# Hardware
## Pinout
![[Pasted image 20240229144513.png]]
![[Pasted image 20240229144518.png]]

# Software
1. compile the correct firmware and flash it to the flight controller
2. Setup the correct airframe and calibrate the controller
3. import the last px4-fmuv5 config files and check the correct settings
4. check every peripheral independently.
	1. Optical flow
	2. pwm outputs (virt swash and servos)
	3. rc
	4. i2c --> angle sensor
	5. telem 1 --> mavlink router
	6. telem 2 --> micrortps bridge
	7. USB --> flashing, debugging, etc.

## Virtual Swashplate Calibration
Requirements to fulfill before starting the calibration routine:
- Make sure that the motors turn in the correct direction, else swap 2 ESC-Motor cables
- Do this calibration routine with a battery and do not use a power supply. The power supply would limit the current and thus interfere with the swashplate modulation, falsifying all results.
- Wear a bike helmet for protection if you do the manual calibration

1. Set the PARAM1 Tuning channel to a nice continuous potentiometer type knob on your RC: ![[Pasted image 20240304172822.png]]
2. Prepare Parameters to do the calibration routine:
	1. Set all `MC_*` parameters to have feedforward only control: Meaning force saving PID values to 0 for all axes (roll, pitch and yaw) and setting the FF parameter to 0.15: ![[Pasted image 20240304173415.png]]
	2. Set the drone to ACRO mode
3. Calibrate every virtual swashplate individually (upper and lower, explained for the upper swashplate with ID=0). Repeat for ASR012_VS_EN values for: upper:1, lower: 2, both: 3
	1. Enable only the upper swashplate under Q->ASR012->ASR012_VS_EN=1
	2. Apply the RC_TO_PARAM option for the Upper Swash Offset parameter (ASR012_0_OFFSET)![[Pasted image 20240304172646.png]]
	3. Wear the bike helmet
	4. Hold drone in your hand and pitch forward. Turn the knob until the pitch/roll directions you feel correspond to what you command with the stick.
	5. Reset RC-To-Param: Tools->Clear All RC to Param