Motor order, direction and ESC protocol are already set from Step 3. The steps below are the same for ArduPilot and PX4; use your firmware's documentation for the exact parameter names and screens.
#Telemetry
The radio link runs at 57600 baud. Both ArduPilot and PX4 run MAVLink on the main telemetry port by default, so once the air radio is on that port the ground station should connect with no changes. Both radio pairs ship matched.
#Optical flow and rangefinder
| NDAA kit (ARK Flow) | Standard kit (MTF-01P) | |
|---|---|---|
| Interface | DroneCAN on the flight controller's CAN port | MAVLink over UART on a spare serial port, 115200 baud |
| Sensor prep | None | In MicoAssistant, before wiring, set the sensor's output protocol to match your firmware |
| Flight controller setup | Enable DroneCAN on that port, then enable the DroneCAN optical-flow and rangefinder drivers | Set that serial port to MAVLink at 115200, then enable the MAVLink optical-flow and rangefinder drivers |
| Vendor docs | docs.arkelectron.com | micoair.com |
Then, for either kit:
- Enable optical-flow and rangefinder fusion in the estimator.
- Enter the sensor's offset from the frame centre, in metres.
- If the sensor isn't mounted in its default orientation, set the flow-rotation parameter to match.
- Reboot, then check in your ground station that flow quality and the distance reading are live and non-zero.
- Hold the aircraft level, then tilt and move it by hand. The flow readings should follow the motion.
Warning
A wrong flow orientation can cause a flyaway. Do not fly a position-hold mode on flow until this check passes.
#Calibrations and safety
- Calibrate the compass, gyroscope, accelerometer and level horizon.
- Calibrate the RC transmitter and assign flight modes to a switch.
- Assign a kill switch or motor emergency stop to a spare RC channel, then test on the bench that it stops the motors.
- Set the battery monitor for a 6S pack and your power module. Calibrate voltage and current against a meter.
- Set the low-battery and link-loss failsafe actions you want.
- Set a starting hover throttle of about 0.30 and let the firmware learn the rest.
#Fit the props
Warning
Keep the battery unplugged while fitting props.
Counter-clockwise props go on front-right and rear-left. Clockwise props go on front-left and rear-right.
- Press an adapter ring from the sprue into each prop hub, so the prop fits the motor shaft snugly. This applies to both kits.
- Fit each prop with the lettering facing up. The leading edge should rise in the direction the motor spins.
- Tighten each prop nut firmly, holding the motor bell so it does not turn.
#Pre-flight checks
Go over the whole aircraft once before the first hover:
- Every screw has its lock nut. 16 on the arms, 6 on the legs, each showing a thread or two through the nylon. The eight standoff screws have none.
- Arms. Fully home, all four motors level.
- Connectors. Every bullet joint seated and sleeved; no wire within reach of a prop.
- Sensors. Flight controller arrow points forward; flow sensor lens clear and pointing down.
- Props. On the right motors, nuts tight.
- Battery. Strapped, centre of gravity at the frame centre.
- Kill switch. Tested.
- First hover. In a stabilised mode at base weight, with no payload.