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Hooking up the board

Make sure you have all cables and adapters ready. A list of connectors and a picture how to connect them is available here:

https://github.com/qgc/hardware/wiki/Connectors-and-Peripherals

Setting up the toolchain

Follow the instructions on http://wiki.openpilot.org/display/Doc/Setting+up+a+Firmware+Development+Environment but instead of the original repository, checkout the PX2 repository. You don't have to follow the Eclipse import instructions on the OpenPilot Wiki, instead follow the instructions below.

mkdir -p ~/src  
git clone http://github.com/qgc/openpilot.git
cd openpilot
cp cproject-copy-to-.cproject .cproject
cp project-copy-to-.project .project

Import the main folder in to eclipse as existing project (in this case the main folder would be ~/src/openpilot) - you should have all the debug and run targets already in eclipse after the inport. The only thing that remains to be done is to right click on the openpilot-flight project and select "Build Configurations -> Set Active -> PX2FMU".

Choosing the right Telemetry

OpenPilot supports its own UAVTalk protocol and MAVLink. UAVTalk is nicely integrated with the OpenPilot GCS, but its not straightforward to bring new measurement values and parameters to the GUI. We recommend to use this protocol when you don't need much custom functionality and if you don't need full support for autonomous waypoint-based missions. MAVLink allows to use QGroundControl, which in turn allows custom buttons, sliders and can graph any message content. In addition it has a rich mission language, suitable for indoor and outdoor use.

If you have in your Makefile (openpilot/flight/PX2FMU/Makefile) this enabled:

MODULES += MAVLink

use QGroundControl from here: https://github.com/mavlink/v10release/downloads

If you have UAVTalk (Telemetry module) enabled:

MODULES += Telemetry

Go into the openpilot main directory, type

make gcs -j8

To build the OpenPilot GCS. You will find it in the openpilot/build/ground/.. folder.

Unbricking / Manual development

If you prefer to work without Eclipse or you need to unbrick the board, these instructions will give you the minimum set needed to flash the board via JTAG:

https://github.com/qgc/hardware/wiki/PX2-Bringup-and-Unbricking-Notes