> For the complete documentation index, see [llms.txt](https://taiphoon-com.gitbook.io/taiphoon.com-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://taiphoon-com.gitbook.io/taiphoon.com-docs/basic-setting/flash-autopilot.md).

# 韌體燒錄

## 關於韌體燒錄

如果使用Morakot Flight Controller或其他開箱即用的飛行控制器，已內建韌體，除非需要自行刷寫不同版本或不同的自動駕駛韌體，否則不需要進行重新燒錄

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="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2F8TKhXzCOQpmxXYaYLLJU%2Fimage.png?alt=media&amp;token=6d8c9296-78dc-4344-b986-7cbac871060f" 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="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FfEtfRkqL75widX7dlMUi%2Fimage.png?alt=media&amp;token=33166a52-f9b5-4d33-af90-7b8e2c7e2cee" alt=""><figcaption></figcaption></figure>

* 按下從**本地電腦加載固件**

<figure><img src="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FjAcBBAk7Vfw1HPbdNzCG%2Fimage.png?alt=media&amp;token=f80bd772-f47e-4b62-8415-cde722a6b065" 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="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2F03TWA3LEJkzBcST7sJua%2Fimage.png?alt=media&amp;token=3259577b-9e85-4036-90f6-9096c382fda6" alt=""><figcaption></figcaption></figure>

* 按下**燒寫固件**

<figure><img src="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FpihqYQQl6MfJwrienhMT%2Fimage.png?alt=media&amp;token=91e3be72-6574-41f1-b3e0-b6519b31757d" alt=""><figcaption></figcaption></figure>

* 正在擦除

<figure><img src="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FMVoXxGhWy7OnppECKyjF%2Fimage.png?alt=media&amp;token=4fc53985-3041-448c-9ccf-e9b16796c7f3" alt=""><figcaption></figcaption></figure>

* 正在燒錄

<figure><img src="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FC3tbdPPfwSErLwS0ebxk%2Fimage.png?alt=media&amp;token=75539cfb-3a13-4fcd-983d-8a869449623a" 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="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FTDSpSCRCusBVx7D6gn1U%2Fimage.png?alt=media&amp;token=8baef572-87cd-4217-86b1-6ce9f00ae2aa" alt=""><figcaption></figcaption></figure>

## 連線測試

* 按下**連接**，連線到飛控

<figure><img src="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FFUvdtv2sggbPJRyUGMDx%2Fimage.png?alt=media&amp;token=4cfca39f-4675-4f36-9cc8-630eb71707e2" 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="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FWH7CJ709IiLxvO8OrcCR%2Fimage.png?alt=media&amp;token=5824142f-86e1-49e1-8015-5e6bf3466bc6" 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="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2Fe4gSlBN5KvpGV6jRNxdl%2Fimage.png?alt=media&amp;token=583bba8c-366d-4223-92d1-f59c59c19700" alt=""><figcaption></figcaption></figure>
{% 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="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FVYATviKjexi0oMZknLfY%2Fimage.png?alt=media&amp;token=c08de26f-ec53-41b8-89e0-bff6d4e7c393" 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="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FTTXBSpGWoOLagx5BJRN5%2Fimage.png?alt=media&amp;token=cb1f441f-f17e-4499-aff0-1b95820fe462" 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="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FGaGUEo8xGXt62IodVhuG%2Fimage.png?alt=media&amp;token=abae51f4-e254-4f0d-9592-956562c8dc61" alt=""><figcaption></figcaption></figure>

* 點選**Yes**開始下載並安裝

<figure><img src="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FRwnCOk7baE3IaqIGRkIv%2Fimage.png?alt=media&amp;token=e1037a82-5825-4a15-b08c-5ea7772ee648" alt=""><figcaption></figcaption></figure>
{% 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="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2F8TKhXzCOQpmxXYaYLLJU%2Fimage.png?alt=media&amp;token=6d8c9296-78dc-4344-b986-7cbac871060f" 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="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FpjA5XisD5847T28a4yCd%2Fimage.png?alt=media&amp;token=e3068d03-aaf1-48a6-8b43-405453eb0d97" alt=""><figcaption></figcaption></figure>

* 按下Firmware

<figure><img src="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FDvp97SwNqjYqhVfdgyhO%2Fimage.png?alt=media&amp;token=1f67ef68-b8f9-4546-9d88-76c650a2b505" alt=""><figcaption></figcaption></figure>

* 接上飛控，此時會出現Firmware Setup的視窗，可以選擇預編譯好的版本(會從網路上下載)，或是自行編譯的版本(Custom firmware file)

<figure><img src="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FAtnCrDUrhAU3jerMM9OI%2Fimage.png?alt=media&amp;token=39953908-86c2-4960-a121-80a6381f1db2" alt=""><figcaption></figcaption></figure>

* 選擇燒錄檔案

<figure><img src="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2FG0IeLT7UnY46exhaR6NZ%2Fimage.png?alt=media&amp;token=81663304-dfd5-4b32-b151-e616e4216704" alt=""><figcaption></figcaption></figure>

* 按下開啟後立即開始燒錄，等待燒錄完成

## 連線測試

* 連線到裝置

當燒錄完成後，QGC會自動連線到飛控，如果連線成功即表示燒錄完成

<figure><img src="https://160136817-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEhjsOwJXR5yBqExlT0G0%2Fuploads%2F1DgpksyATwGeNPGj4xgz%2Fimage.png?alt=media&amp;token=0d320f0e-e531-4a9f-aab9-d8cd673ea3f6" alt=""><figcaption></figcaption></figure>
{% endtab %}
{% endtabs %}