QGC ground station tutorial

Preface

QGC Ground station version ：
V4.0.8
Ubuntu 18.04
PX4 The firmware

One 、 Download firmware

Don't connect the flight control first , Click on the following page , And then use USB Connect the fly to the computer , Be careful not to use batteries or other USB Power supply to other equipment

Two 、 Choose a model

Connect the flight control to the ground station , Set the rack to the model you want to set

Then the upper right side of the motor “ Apply and restart ”

After restart, it is shown in the figure ：

3、 ... and 、 calibration

Link the flight control through data transmission QGC Ground station

1. calibrate compass

Select sensor -> compass -> determine , Start calibration

Place the drone in any direction shown in red , And keep still . When prompted （ The orientation image turns yellow ）, Arbitrarily along / Rotate the vehicle about the specified axis in both directions . After the current direction calibration is completed , The relevant image on the screen will turn green .

Repeat the calibration process for all directions .
After calibration in all directions ,QGroundControl Will be displayed Calibration complete（ Calibration complete ）（ All directional images will be displayed in green , The progress bar will be completely filled ）. Then you can move on to the next sensor .

2. Calibrate the gyroscope

Click the gyro sensor button , Place the drone horizontally on the ground , Keep still . single click “ determine ” Start calibration . The full bar graph at the top indicates successful calibration

3. Calibrate the accelerometer

Click the accelerometer sensor button , single click “ determine ” Start calibration .

Follow the directions on the screen , When the orientation image turns yellow , Keep the drone stationary . After the current direction calibration is completed , The relevant image on the screen will turn green .

Repeat the calibration process for all directions . After calibrating the vehicle in all positions ,QGroundControl Will be displayed Calibration complete（ Calibration complete ）（ All directional images will be displayed in green , The progress bar will be completely filled ）.

4. Calibrate the horizon

If you don't calibrate the horizon , The position of UAV may drift continuously in non fixed point flight .
Place the UAV on a horizontal plane , Click to level the horizon ->OK, Then stay still , Until the green progress bar is full

5. Calibrate the remote control

Turn on the remote control , Switch to the remote control page , Check whether the channel can be recognized in the lower right corner , If you can identify the channel , You can calibrate , Select the operation mode in the upper right corner , Then click calibrate

And then click “ determine ”

Click again “ next step ”

Move the remote control rocker to the position indicated in the figure below .

When the rod is in place , The ground station will prompt the next position to dial , After dialing all positions , Press two times. “ next step ” Save settings .

6. Calibrate the electric regulator

Calibrate the electric timing , use USB Connect the flight control to the ground station , No battery connection , No paddle , The signal line of electric regulation is connected to the flight control .
Switch to “ Power Supply ” page , Enter the number of battery cells and press enter , Click on “ calibration ”, Then plug in the battery to calibrate .

Four 、 Set the remote control dial switch

Switch to the flight mode page , You can dial the remote control dial switch that needs to be set first , See which channel it corresponds to in the ground station .

1. Set the flight mode switch

Click on “ Mode channel ” The check box on the right , Set the corresponding remote control dial switch channel .

Then set the flight mode corresponding to the third gear .

2. Set other change-over switches

Other switch channels are on the right side of flight mode , as follows , Which... Needs to be set , Just set the remote control channel on the right side of the switch , I have a brake here （Kill switch）, Channel is the fifth channel of the remote control . The function of the brake is to stop the motor directly , Can be set as required

5、 ... and 、 Flight view page setup

Set the value to be displayed on the flight page , Click on the icon below

What needs to be displayed , Put a tick on the corresponding left , Final point determination

6、 ... and 、 Route planning

Pay attention to route planning , After setting the waypoint , There is a... In the bottom left corner of the page “ Terrain height ” That column , The waypoint marked in red indicates that the corresponding waypoint altitude cannot reach . The default altitude is the altitude relative to the takeoff point , For example, the altitude of the takeoff point is 5 rice , Then the altitude of each waypoint must be at least greater than 5 Rice won't be marked red , If it is less than 5 The rice will be marked red , If it is marked in red, the task mode cannot be executed .

If marked in red , You can raise the height a little , Or change it to the height relative to the terrain , as follows .

1. Manual dot

Click on the file -》 blank

Default must be set first takeoff spot , To set other waypoints

If you do not want to set takeoff Set the waypoint directly at （ For example, unmanned ships and other vehicles ）, You can check the following options in the general settings of the ground station ：

Then you can set the waypoint directly without setting the takeoff point .

Click on “takeoff” after , The takeoff point will be generated at the current position of the UAV , Then click “ a stop en route ” Button , Then click on the map to set the waypoint position . The set waypoint can also be selected with the left mouse button and dragged to change its position .
I click the take-off point here , Three waypoints have been set up , There are four points in total , Here's the picture , On the right side of the map, there is a setting page for each line point .

Click the small trash can icon on the left of the corresponding waypoint to delete the waypoint .

Click... On the right side of the small trash can icon Waypoint You can set the type of point , The default is Basic Category , There is Waypoint( a stop en route )、Return To Launch( Return to takeoff point )、Land( land )、Takeoff( take off ) Four kinds of , Corresponding to the actions to be performed after arriving at the waypoint .

The above four points are enough for the use of ordinary four rotors , But if you need to perform some advanced actions （ Such as vertical mode switching ）, You need to find... In other categories below .

I set the first point here as the takeoff point 、 The second and third points are set as waypoints , The fourth point is set as the return point , In this case, the UAV will take off and fly to the second point first , Fly to the third point , After reaching the third point, return to the take-off point .

stay Mission Start In that column, the waypoint altitude and flight speed can be set to be equivalent , The settings in this column will be valid for all task points .

You can also set the equivalent height and dwell time in each task point , But the settings here are only valid for this task point , There is a three bar icon on the right side of each task point , You can click this icon to set more information about this task point

Here's the picture ：

“ Edit location ” You can edit the position in detail

“ Show all values ” You can edit all the parameters of the task point

2. Rectangular wave type surveying and mapping planning

Click on the pattern -》 Mapping

Click to sketch , Then point the vertices of the polygon on the map

Click to finish sketching

Click the following figure to edit

The interval can be set , angle , Turning distance, etc

If you want to change the unit of route distance set in the figure below into meters

Just disable the camera

5、 ... and 、 Set the parameter adjustment channel of the remote controller

By setting the parameter adjustment channel , You can connect a certain channel of the remote control （ Such as knob ） Mapping to PX4 One of the parameters of , Thus, it can be adjusted in real time through the knob of the remote control PX4 The value of the parameter .
In the figure below, first set the remote control channel corresponding to the parameter , Up to three parameter channels can be set at the same time .
For example, the remote control knob here corresponds to the channel 9, I'll take the parameter 1 The parameter adjustment channel of is set as the channel of the remote controller 9.

The inner loop pitch rate is then mapped to the parameter 1 On , Click Advanced settings below -》 Set the remote control to parameter …

Then set the zoom factor . After setting, you can move the knob to see if the parameter changes normally