This repository contains a set of utility programs required to transform an ordinary Pixhawk-based flight platform, such as the Iris or Iris+ quadcopters sold by 3D Robotics, into a SMACCMPilot compatible platform.
If you haven't ever used JTAG or don't even know what that means, skip this step.
If you have used a JTAG interface to flash programs to the Pixhawk's FMU
processor, you probably need to reflash the USB bootloader on the FMU processor.
Follow the instructions in
fmu_bootloader/ on how to perform this step.
We need to load a version of the APM project's firmware onto the FMU processor in order to perform an upgrade of the firmware on the IO coprocessor.
Follow the steps in
fmu_apm_firmware/ to load the included APM project
firmware image onto the FMU.
A new firmware image for the px4io IO coprocessor must be copied to a Micro SD card so the APM firmware can read the image and load it.
Follow instructions the
sdcard/ directory to complete these operations.
After Step 2 is complete, you can overwrite the APM firmware with the ordinary smaccm-flight standalone flight firmware.
SMACCMPilot uses a upgraded version of the 3DR Radio firmware which fixes
several serious security vulerabilities in the factory firmware, and provides a
more reliable framing mechanism. Follow the instructions provided in the
smaccm_sik/ directory With each 3DR Radio (or compatible HM-TRP based radio).