# 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
* 下載韌體連結：taiphoon.com.tw/firmware/morakot/lastest
* 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&#x26;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&#x26;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&#x26;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&#x26;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&#x26;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&#x26;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&#x26;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&#x26;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&#x26;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&#x26;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&#x26;token=583bba8c-366d-4223-92d1-f59c59c19700" 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 1.3.82
* 下載韌體連結：taiphoon.com.tw/firmware/morakot/lastest

***

透過Mission Planner
{% 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&#x26;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&#x26;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&#x26;token=1f67ef68-b8f9-4546-9d88-76c650a2b505" 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Betaflight韌體步驟完成！接著進行<strong>首次設定First Setup！</strong></h2>
{% endtab %}
{% endtabs %}
