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Download the image

Run the Raspberry Pi Imager

Then click "CHOOSE OS" under Operating System then "use custom" then select the ubuntu-22.04.1-preinstalled-desktop-arm64+raspi.img.xz Then click "CHOOSE STORAGE" under Storage and then "Internal SD card reader" Click "WRITE" enter your password if it promts you.

Profit

After writing is compleate, mount it and edit its /etc/hostname & /etc/hosts files

@NOTE where it is # please put the appropriate number

Edit /etc/hostname

edit to just dragonfly#

Edit /etc/hosts

just below localhost paste 127.0.1.1 dragonfly#

Boot the pi up and change the password(will prompt you to do it on login),

On the laptop/desktop

Install ansible

Copy over your public ssh key

from the laptops .ssh/id_rsa.pub insert into .ssh/authorized_keys or just run ssh-copy-id ubuntu@dragonfly’s_ip or just run ssh-copy-id ubuntu@dragonfly#.local

@Note dragonfly#.local might resolve

Run the playbook from the dragonfly-controller/scripts directory

ansible-playbook playbook.yaml -u ubuntu --inventory ./inventory

@Note if you are getting this error below it is probably because unattended upgrades are in progress, so just wait a few minutes and run it again.

fatal: [dragonfly#.local]: FAILED! => {"changed": false, "msg": "'/usr/bin/apt-get upgrade --with-new-pkgs ' failed: E: Could not get lock /var/lib/dpkg/lock-frontend. It is held by process 2551 (unattended-upgr)\nE: Unable to acquire the dpkg frontend lock (/var/lib/dpkg/lock-frontend), is another process using it?\n", "rc": 100, "stdout": "", "stdout_lines": []}

Install Mission Planner on Windows

Connect Pixhawk to computer via USB cable

Flash Arducopter firmware and restart

Copy initial parameters from another Dragonfly and restart

Verify battery voltage. If the battery voltage is too low (11V?) then you may need to recopy in the initial parameters.

Without propellers installed, perform a motor test. Verify correct motor orientation and spin (reference above figure)

Install Mission Planner on Linux (Currently broken)

Make sure exicute from inside a sub directory

sudo apt install mono-runtime libmono-system-windows-forms4.0-cil libmono-system-core4.0-cil libmono-system-management4.0-cil libmono-system-xml-linq4.0-cil
sudo apt install mono-complete
wget https://firmware.ardupilot.org/Tools/MissionPlanner/MissionPlanner-latest.zip
unzip MissionPlanner-latest.zip
mono MissionPlanner.exe

Transmitters

Download the companion applicaiton

https://www.open-tx.org/downloads click the most recent at the top then scroll to the bottom and under Download links: click the appropriate installer for your system.

Verify a usb connection with the transmitter

Plug in the transmitter’s micro usb if you are running linux run lsusb | grep "DFU Mode" to verify it has come up properly if not disassemble and inspect/reseat the ribbon cable If all is good you should see this Bus 001 Device 036: ID 0483:df11 STMicroelectronics STM Device in DFU Mode

Install the downloaded opentx companion applicaiton

add the radio profile Radio type: Jumper T16 We have a mixture of radios so if the antenna is on the upper front then select internalmulti if there is the module installed below don’t have it selected. You can select noheli as we are running quads nto helicopters.

On the leftside make sure to download a copy of the original firmware and save it. Make sure to click show details and read as you will get a Flashing done message even when it fails

Then Write Firmware to radio again make sure that the show details checkbox is checked and read the output to make sure the flashing completed

Unplug the transmitter and remove the sd card, make a copy of its contents, wipe it clean and then write to it the extracted files from what you downloaded in part Download the SD card image

Reinstall the SD card and power up the transmitter and calibrate the analogs

External antenna module

In the case of TX1 it does not have an internal module and the external module was running an old bootloader that did not support upgrading the firmware from the transmitter. So Plug directly into the external module’s USB micro at the bottom the the transmitter and plug into a linux system Run lsusb you should see something like Bus 001 Device 045: ID 10c4:ea60 Silicon Labs CP210x UART Bridge

Install Flash multi

You’ll end up running something like

wget https://github.com/benlye/flash-multi/releases/download/0.6.1/flash-multi-0.6.0.tar.gz
tar -xvzf flash-multi-0.6.0.tar.gz
cd flash-multi-0.6.0
sudo ./tools/install.sh
sudo cp -v ./tools/45-maple.rules /etc/udev/rules.d/45-maple.rules
sudo chown root:root /etc/udev/rules.d/45-maple.rules
sudo chmod 644 /etc/udev/rules.d/45-maple.rules
sudo udevadm control --reload-rules
sudo usermod -a -G plugdev $USER\nsudo usermod -a -G dialout $USER

./flash-multi -f /home/carter/Downloads/mm-stm-serial-reta-v1.3.3.7.bin -p /dev/ttyUSB0

Once you are running a more modern bootloader on the external module you can update the using the transmitter Just copy the bin file to the onboard SD card and fallow this https://www.multi-module.org/using-the-module/firmware-updates/update-methods#opentx

Rebind the transmitter to the dragonflys

Hit the "MDL" button, then roll the right roller to the right until you get to Internal(or External) RF got to mode change to MULTI, the next option change to FrSky X then the next selection to D16 8ch press the wheel for enter/continue Then change the receiver number to match the dragonfly’s # and then select bind, the transmitter should beep. While you are doing this power up the dragonfly and while doing so have the small button the on the X8R depressed. then power cycle both the dragonfly and the transmitter you should have a solid green light on the X8R receiver if not try again

Disable inactivity alarm

Sys press the page button until you are on the Radio setup tab then scroll down to alarms and set inactivity to 0m