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PX4 Configuration, Parameters, and Firmware

1.0 Files

Use these direct links for configuration and recovery. Do not use older versions unless specifically troubleshooting legacy hardware.

File Type Description Link
Firmware Binary Stable PX4 v1.16.0 for Cube Orange cubepilot_cubeorange_default_1_16_0.px4
Parameter Template Baseline params for Homebrew airframes homebrew_1_16_0.params
Comparison Script Python script to identify parameter deltas compare_px4_params

2.0 Firmware Versioning Logic

PX4 does not provide a porting tool for parameters between versions. Major (1.x to 2.x) and minor (x.15 to x.16) updates often involve opaque changes to parameter names and EKF logic.

  • Standard Practice: Users are expected to reconfigure PX4 from scratch when a new minor/major version is released.
  • Legacy Data: If you update firmware from a previous version, PX4 will attempt to keep as many parameters as possible. This is undesirable and leads to errors.
  • Deltas: The script linked above was used to identify differences between a working 1.15.4 set and a default 1.16.0 set to create our current template. Use this as a baseline for future upgrades (e.g., 1.16 to 1.17).

3.0 Connection Protocols

3.1 Wired (USB)

Use for flashing firmware, configuring the Actuators tab, and high-speed data transfer. * Safety: Start with the drone disconnected from the battery and all propellers removed. Connect to the computer via USB (directly to the Flight Controller or the spare dongle).

3.2 Wireless (Radio)

Use for sensor calibration and general telemetry. * Baud Rate: Ensure the baud rate is set to 57600. If QGC shows a default, leave it at this value. * Limitation: The Actuators tab is inaccessible via radio; it will revert to the legacy Motors tab. Do not modify settings here. * Linux Permission: If dialout permissions fail, run sudo usermod -a -G dialout $USER, then restart the machine.

3.3 Manual Connection Discovery

If autoconnect fails, identify the port and set permissions: * macOS: ls /dev/cu.* followed by sudo chmod 666 /dev/cu.[ID]. You may see something like /dev/cu.usbserial-B0048D22. Skipping this results in a "Permission error when locking device" message. * Linux: ls /dev/tty* * Windows (PowerShell): Run Get-PnpDevice -PresentOnly | Where-Object { $_.InstanceId -match 'USB' } to identify the COM port. Use port XXXXX. * Note on Adapters: USB-C adapters/docks generally do not cause issues unless it is the first time use and the driver is still installing.

4.0 Clean Configuration Procedure

Perform these steps via USB with no propellers and no battery connected. 1. Reset: In the Parameters tab, select Reset all to firmware defaults. 2. Reboot: Use the Reboot Vehicle button in QGC. 3. Airframe: Select Generic Quadcopter (Quad X). Ignore the red sensor errors in the log for now. 4. Reboot: Again. 5. ESC Calibration: Follow the QGC wizard. Ensure propellers are removed before plugging in the battery when prompted. 6. Power: Calibrate battery voltage using a physical voltmeter for reference. 7. Template: Load the latest PX4 template for the Homebrews: homebrew_1_16_0.params. 8. Reboot: Final reboot to commit parameter changes.

5.0 Sensor Calibration

Disconnect USB and switch to wireless radio to prevent cable snags and connector damage during movement. Seal the drone up for a firm grip. 1. Orientation: In the Sensors tab, set SENS_BOARD_ROT to Yaw 90 deg (Raw Value: 2). The Homebrew FCs are mounted 90° clockwise from the desired front-facing side. 2. Required Calibrations: Level Horizon, Accelerometer, Gyroscope, and Compass. 3. Critical Warning: You must recalibrate every drone individually. Loading a .params file imports the specific calibration offsets of the source drone. Because every drone has unique magnetic interference (soft/hard iron) and IMU biases, using another drone's calibration will cause measurements to drift or trigger EKF failures.

6.0 Critical Technical Notes

6.1 Firmware Management

The PX4 repository does not maintain easily accessible binaries for older releases. When you flash via QGC, it pulls the latest stable version automatically. * Internal Storage: We maintain the stable binary cubepilot_cubeorange_default_1_16_0.px4 to avoid forced upgrades. * Source Building: Do not attempt to build old versions from source unless you are prepared to manually roll back all recursive submodules, which is historically difficult.

6.2 Parameters vs. Calibrations

Not everything is stored in a .params file. Calibration data (like ESC calibration) is specific to the hardware-level timing and must be performed on every drone individually after a firmware upgrade, even if using a template.

6.3 Sensor Safety

Never calibrate sensors over USB. Compass calibration requires continuous slow spinning. USB cables will snag, tangle, and potentially damage the flight controller port or the cable itself. Use the wireless radio.