# 燒錄開源飛控韌體(Autopilot)

Taiphoon產品主要以三種開源飛控韌體為主：

* Betaflight
* Ardupilot
* PX4 Autopilot

接著將會介紹Betaflight、Ardupilot、PX4韌體的安裝與基本配置方式

{% tabs %}
{% tab title="Betaflight" %}

## 先前準備

* 燒錄韌體用的地面站：Betaflight Configurator 10.10.0
* 燒錄韌體：目前Moarkot Betaflight韌體在開發驗證階段，如有需要請聯繫<service@taiphoon.com.tw>
* 飛控板：Morakot

## 連接到電腦

* 長按Boot按鍵並插入USB線，啟動DFU模式
* 開啟裝置管理員，出現**STM32 BOOTLOADER**

<figure><img src="/files/K5YmuOtE8NIK1mqgGbi5" alt=""><figcaption></figcaption></figure>

## 韌體燒錄

* 開啟**Betaflight Configurator**，此時右上角應出現DFU裝置名稱，按下固件燒寫工具

<figure><img src="/files/8k4ISnYeknyzMKH9Smdj" alt=""><figcaption></figcaption></figure>

* 按下從**本地電腦加載固件**

<figure><img src="/files/EDilMUju1iEY0DelNMJg" alt=""><figcaption></figcaption></figure>

* 選擇先前下載的韌體。下載韌體連結：taiphoon.com.tw/firmware/morakot/lastest，按下**開啟**

<figure><img src="/files/6L9kV1bpeGvEtyveUAsC" alt=""><figcaption></figcaption></figure>

* 按下**燒寫固件**

<figure><img src="/files/7e82fm3EWIDv5garAdwl" alt=""><figcaption></figcaption></figure>

* 正在擦除

<figure><img src="/files/I2ZFmNZ87QDoXLXqNVAH" alt=""><figcaption></figcaption></figure>

* 正在燒錄

<figure><img src="/files/mYJhedVeprdU6NQNp8z1" alt=""><figcaption></figcaption></figure>

* 出現 `Configurator has successfully detected and verified the board`即完成燒錄，並且**右上角出現裝置名稱**。

<figure><img src="/files/ogjllUJLMSy7oirQ0QIR" alt=""><figcaption></figcaption></figure>

## 連線測試

* 按下**連接**，連線到飛控

<figure><img src="/files/FADDpxeTAWK8WCUb0OwG" alt=""><figcaption></figcaption></figure>

* 連線後可能會跳出問題視窗，燒錄新飛控韌體後第一次連線會出現是正常的，由於沒有經過感測器校正的步驟，會在**首次設定First Setup**中進一步說明，目前暫時跳過。

<figure><img src="/files/fnloq9BfTSBFwCKv4dZe" alt=""><figcaption></figcaption></figure>

* 連線成功後，顯示飛控目前姿態與狀態數值

<figure><img src="/files/CwxpVQZnbU4tXHS5SgLN" alt=""><figcaption></figcaption></figure>

<h2 align="center">燒錄Betaflight韌體步驟完成！接著進行<strong>首次設定First Setup！</strong></h2>
{% endtab %}

{% tab title="Ardupilot" %}

## 先前準備

* 燒錄韌體用的地面站：Mission Planner
* 韌體：<https://firmware.ardupilot.org/Copter/beta/Morakot/arducopter_with_bl.hex>

## 韌體燒錄

* 開啟**Mission Planner**，進入**初始配置**

<figure><img src="/files/QMf06DqUPT5lLlHNFoEj" alt=""><figcaption></figcaption></figure>

此時先不用按下Connect連線

* 點選左側**韌體安裝**

<figure><img src="/files/QEuvoP5sCmGVvj3U37NX" alt=""><figcaption></figcaption></figure>

* 根據需求選擇要安裝的韌體種類(直升機、多旋翼機、定翼機...)

<figure><img src="/files/tKBHHOhDTk1JCOzZqpFn" alt=""><figcaption></figcaption></figure>

* 點選**Yes**開始下載並安裝

<figure><img src="/files/AqJanBqSpgCe7DCU3uhd" alt=""><figcaption></figcaption></figure>

***

<h2 align="center">燒錄Ardupilot韌體步驟完成！接著進行<strong>首次設定First Setup！</strong></h2>
{% endtab %}

{% tab title="PX4" %}
{% hint style="info" %}
\# PX4 Firmware Bootloader參考連結：<https://docs.px4.io/main/zh/advanced_config/bootloader_update_from_betaflight.html#bootloader-firmware>
{% endhint %}

## 先前準備

* 燒錄韌體用的地面站：QGroundControl 5.0.0
* 下載韌體連結：taiphoon.com.tw/firmware/morakot/lastest

## 燒錄PX4 Bootloader(非必須)

## 連接到電腦

* 長按Boot按鍵並插入USB線，啟動DFU模式
* 開啟裝置管理員，出現**STM32 BOOTLOADER**

<figure><img src="/files/K5YmuOtE8NIK1mqgGbi5" alt=""><figcaption></figcaption></figure>

## 韌體燒錄

* 開啟QGroundControl，按下左上角的Icon，點選Vehicle Configuration

<figure><img src="/files/HqzLXIuynkUWcFiEQQOF" alt=""><figcaption></figcaption></figure>

* 按下Firmware

<figure><img src="/files/HOJ2ZThVgmHEwR2Kz447" alt=""><figcaption></figcaption></figure>

* 選擇燒錄
* 正在燒錄
* 完成燒錄

## 連線測試

* 連線到裝置
* 連線狀態驗證

<h2 align="center">燒錄PX4韌體步驟完成！接著進行<strong>首次設定First Setup！</strong></h2>
{% endtab %}
{% endtabs %}


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://taiphoon-com.gitbook.io/taiphoon.com-docs/basic-setting/flash-autopilot.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.