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firmware.html
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<title>Pixhawk / Pixracer firmware flashing | Clover</title><meta name="description" content="Clover Drone Kit">
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aria-label="Safety tips"><!--[--><!--]--> Safety tips <!--[--><!--]--></a><!----></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Assembly <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/assembly.html" class="sidebar-item" aria-label="Clover drone assembly"><!--[--><!--]--> Clover drone assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_4_2.html" class="sidebar-item" aria-label="Clover 4.2 assembly"><!--[--><!--]--> Clover 4.2 assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_4_2_ws.html" class="sidebar-item" aria-label="Clover 4 assembly"><!--[--><!--]--> Clover 4 assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_4.html" class="sidebar-item" aria-label="Clover 4 assembly"><!--[--><!--]--> Clover 4 assembly <!--[--><!--]--></a><!----></li><li><a 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<!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/simulation_vm.html" class="sidebar-item" aria-label="Simulation VM setup"><!--[--><!--]--> Simulation VM setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/simulation_usage.html" class="sidebar-item" aria-label="Using the simulator"><!--[--><!--]--> Using the simulator <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/simulation_m1.html" class="sidebar-item" aria-label="Running simulator on M1 powered computer"><!--[--><!--]--> Running simulator on M1 powered computer <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/ros.html" class="sidebar-item" aria-label="ROS"><!--[--><!--]--> ROS <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/mavros.html" class="sidebar-item" aria-label="MAVROS"><!--[--><!--]--> MAVROS <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading active collapsible">Supplementary materials <span class="down arrow"></span></p><!--[--><ul style="" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/supplementary.html" class="sidebar-item" aria-label="Supplementary materials"><!--[--><!--]--> Supplementary materials <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/coex_pix.html" class="sidebar-item" aria-label="COEX Pix"><!--[--><!--]--> COEX Pix <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/coex_pdb.html" class="sidebar-item" aria-label="COEX PDB"><!--[--><!--]--> COEX PDB <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/coex_gps.html" class="sidebar-item" aria-label="COEX GPS"><!--[--><!--]--> COEX GPS <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/auto_setup.html" class="sidebar-item" aria-label="Step-by-step guide on autonomous flight with Clover 4"><!--[--><!--]--> Step-by-step guide on autonomous flight with Clover 4 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/hostname.html" class="sidebar-item" aria-label="Hostname"><!--[--><!--]--> Hostname <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/sitl.html" class="sidebar-item" aria-label="PX4 Simulation"><!--[--><!--]--> PX4 Simulation <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/wall_aruco.html" class="sidebar-item" aria-label="Navigation using vertical ArUco-markers"><!--[--><!--]--> Navigation using vertical ArUco-markers <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/calibratePID.html" class="sidebar-item" aria-label="Configuring the PID coefficients"><!--[--><!--]--> Configuring the PID coefficients <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/models.html" class="sidebar-item" aria-label="Model files for parts"><!--[--><!--]--> Model files for parts <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/ros-install.html" class="sidebar-item" aria-label="ROS Melodic package installation and setup"><!--[--><!--]--> ROS Melodic package installation and setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/camera_calibration.html" class="sidebar-item" aria-label="Camera calibration"><!--[--><!--]--> Camera calibration <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/zerotire_vpn.html" class="sidebar-item" aria-label="Creating a virtual network ZeroTier One and connecting to it"><!--[--><!--]--> Creating a virtual network ZeroTier One and connecting to it <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/4g.html" class="sidebar-item" aria-label="Multi-copter control with 4G communication"><!--[--><!--]--> Multi-copter control with 4G communication <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/jetson_nano.html" class="sidebar-item" aria-label="Clover and Jetson Nano"><!--[--><!--]--> Clover and Jetson Nano <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/rc.html" class="sidebar-item" aria-label="Controlling Clover from a smartphone"><!--[--><!--]--> Controlling Clover from a smartphone <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/network.html" class="sidebar-item" aria-label="Configuring Wi-Fi"><!--[--><!--]--> Configuring Wi-Fi <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/uart.html" class="sidebar-item" aria-label="UART interface"><!--[--><!--]--> UART interface <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/parameters.html" class="sidebar-item" aria-label="PX4 Parameters"><!--[--><!--]--> PX4 Parameters <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/flight_logs.html" class="sidebar-item" aria-label="PX4 Logs and Topics"><!--[--><!--]--> PX4 Logs and Topics <!--[--><!--]--></a><!----></li><li><a aria-current="page" href="/clover-vuepress/en/firmware.html" class="router-link-active router-link-exact-active router-link-active sidebar-item active" aria-label="Pixhawk / Pixracer firmware flashing"><!--[--><!--]--> Pixhawk / Pixracer firmware flashing <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/mavlink.html" class="sidebar-item" aria-label="MAVLink"><!--[--><!--]--> MAVLink <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/test_connection.html" class="sidebar-item" aria-label="How to use a multimeter?"><!--[--><!--]--> How to use a multimeter? <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/radioerrors.html" class="sidebar-item" aria-label="Possible radio failures"><!--[--><!--]--> Possible radio failures <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/esc_firmware.html" class="sidebar-item" aria-label="Flashing ESCs using BLHeliSuite"><!--[--><!--]--> Flashing ESCs using BLHeliSuite <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/arduino.html" class="sidebar-item" aria-label="Controlling the copter from Arduino"><!--[--><!--]--> Controlling the copter from Arduino <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/gps.html" class="sidebar-item" aria-label="Connecting GPS"><!--[--><!--]--> Connecting GPS <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/ir_sensors.html" class="sidebar-item" aria-label="Working with IR sensors on Raspberry Pi 3"><!--[--><!--]--> Working with IR sensors on Raspberry Pi 3 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/fpv_clover_4_2.html" class="sidebar-item" aria-label="Installing and configuring FPV equipment"><!--[--><!--]--> Installing and configuring FPV equipment <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/fpv.html" class="sidebar-item" aria-label="Installation of FPV"><!--[--><!--]--> Installation of FPV <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/magnetic_grip.html" class="sidebar-item" aria-label="Assembling and setting up the electromagnetic gripper"><!--[--><!--]--> Assembling and setting up the electromagnetic gripper <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/mechanical_grip.html" class="sidebar-item" aria-label="Assembling and setting up a mechanical gripper"><!--[--><!--]--> Assembling and setting up a mechanical gripper <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/trainer_mode.html" class="sidebar-item" aria-label="FlySky Trainer mode settings"><!--[--><!--]--> FlySky Trainer mode settings <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/tinning.html" class="sidebar-item" aria-label="Blanching"><!--[--><!--]--> Blanching <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/connectortypes.html" class="sidebar-item" aria-label="Types of power connectors"><!--[--><!--]--> Types of power connectors <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/4in1.html" class="sidebar-item" aria-label="Connecting 4 in 1 ESCs"><!--[--><!--]--> Connecting 4 in 1 ESCs <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/tb.html" class="sidebar-item" aria-label="Soldering safety"><!--[--><!--]--> Soldering safety <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/leds_old.html" class="sidebar-item" aria-label="Working with a LED strip on Raspberry 3"><!--[--><!--]--> Working with a LED strip on Raspberry 3 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/contributing.html" class="sidebar-item" aria-label="Contribution to Clover"><!--[--><!--]--> Contribution to Clover <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/packages.html" class="sidebar-item" aria-label="COEX packages repository"><!--[--><!--]--> COEX packages repository <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/migrate20.html" class="sidebar-item" aria-label="Migration to version 0.20"><!--[--><!--]--> Migration to version 0.20 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/migrate22.html" class="sidebar-item" aria-label="Migration to version 0.22"><!--[--><!--]--> Migration to version 0.22 <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Events <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/events.html" class="sidebar-item" aria-label="Events"><!--[--><!--]--> Events <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2022.html" class="sidebar-item" aria-label="CopterHack 2022"><!--[--><!--]--> CopterHack 2022 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2021.html" class="sidebar-item" aria-label="CopterHack 2021"><!--[--><!--]--> CopterHack 2021 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2019.html" class="sidebar-item" aria-label="Copter Hack 2019"><!--[--><!--]--> Copter Hack 2019 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2018.html" class="sidebar-item" aria-label="Copter Hack 2018"><!--[--><!--]--> Copter Hack 2018 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2017.html" class="sidebar-item" aria-label="Copter Hack 2017"><!--[--><!--]--> Copter Hack 2017 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/video_contest.html" class="sidebar-item" aria-label="Contest for the best educational video on assembly and configuration"><!--[--><!--]--> Contest for the best educational video on assembly and configuration <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/educational_contests.html" class="sidebar-item" aria-label="Educational contests"><!--[--><!--]--> Educational contests <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><!--]--></ul><!--[--><!--]--></aside><!--]--><!--[--><main class="page"><!--[--><!--]--><div class="theme-default-content"><!--[--><h1 id="pixhawk-pixracer-firmware-flashing" tabindex="-1"><a class="header-anchor" href="#pixhawk-pixracer-firmware-flashing" aria-hidden="true">#</a> Pixhawk / Pixracer firmware flashing</h1><p>Pixhawk, Pixracer or <a href="/clover-vuepress/en/coex_pix.html" class="">COEX Pix</a> firmware may be flashed using QGroundControl or command line utilities.</p><h2 id="modified-firmware-for-clover" tabindex="-1"><a class="header-anchor" href="#modified-firmware-for-clover" aria-hidden="true">#</a> Modified firmware for Clover</h2><p>It is advisable to use a specialized build of PX4 with the necessary fixes and better defaults for the Clover drone. Use the latest stable release in our <a href="https://github.com/CopterExpress/Firmware/releases" target="_blank" rel="noopener noreferrer">GitHub repository<span><svg class="external-link-icon" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" focusable="false" x="0px" y="0px" viewbox="0 0 100 100" width="15" height="15"><path fill="currentColor" d="M18.8,85.1h56l0,0c2.2,0,4-1.8,4-4v-32h-8v28h-48v-48h28v-8h-32l0,0c-2.2,0-4,1.8-4,4v56C14.8,83.3,16.6,85.1,18.8,85.1z"></path><polygon fill="currentColor" points="45.7,48.7 51.3,54.3 77.2,28.5 77.2,37.2 85.2,37.2 85.2,14.9 62.8,14.9 62.8,22.9 71.5,22.9"></polygon></svg><span class="external-link-icon-sr-only">open in new window</span></span></a> with the word <code>clover</code>, for example, <code>v1.8.2-clover.5</code>.</p><div id="release" style="display:none;"><p>Latest stable release: <strong><a id="download-latest-release"></a></strong>.</p><ul><li>Firmware for COEX Pix and Pixracer (<strong>Clover 4 / Clover 3</strong>) – <a id="firmware-pixracer" href=""><code>px4fmu-v4_default.px4</code></a>.</li><li>Firmware for Pixhawk (<strong>Clover 2</strong>) – <a id="firmware-pixhawk" href=""><code>px4fmu-v2_lpe.px4</code></a>.</li></ul></div><h2 id="qgroundcontrol" tabindex="-1"><a class="header-anchor" href="#qgroundcontrol" aria-hidden="true">#</a> QGroundControl</h2><p>Open the Firmware section in QGroundControl. Then, connect your flight controller via USB.</p><p>Choose PX4 Flight Stack. If you wish to install the official firmware (with EKF2 for Pixhawk), choose "Standard version". In order to flash custom firmware, choose "Custom firmware file..." and click OK.</p><div class="custom-container warning"><p class="custom-container-title">WARNING</p><p>Do not unplug your flight controller from USB during flashing!</p></div><h2 id="firmware-variants" tabindex="-1"><a class="header-anchor" href="#firmware-variants" aria-hidden="true">#</a> Firmware variants</h2><p>The name of the firmware file contains information about the target flight controller and build variant. For example:</p><ul><li><code>px4fmu-v4_default.px4</code> — firmware for COEX Pix and Pixracer with EKF2 and LPE (<strong>Clover 3</strong> / <strong>Clover 4</strong>).</li><li><code>px4fmu-v2_lpe.px4</code> — firmware for Pixhawk with LPE (<strong>Clover 2</strong>).</li><li><code>px4fmu-v2_default.px4</code> — firmware for Pixhawk with EKF2.</li><li><code>px4fmu-v3_default.px4</code> — firmware for newer Pixhawk versions (rev. 3 chip, see Fig. + Bootloader v5) with EKF2 and LPE.</li></ul><p><img src="/clover-vuepress/assets/stmrev.3384fd44.jpg" alt="STM revision"></p><div class="custom-container tip"><p class="custom-container-title">TIP</p><p>In order to flash the <code>px4fmu-v3_default.px4</code> file, you may need to use the <code>force_upload</code> command in the command prompt.</p></div><h2 id="command-prompt" tabindex="-1"><a class="header-anchor" href="#command-prompt" aria-hidden="true">#</a> Command prompt</h2><p>PX4 may be compiled from the source and automatically flashed to the flight controller from the command prompt.</p><p>To do this, clone the PX4 repository:</p><div class="language-bash ext-sh"><pre class="language-bash"><code><span class="token function">git</span> clone https://github.com/PX4/PX4-Autopilot.git
</code></pre></div><p>Select the appropriate version (tag) using <code>git checkout</code>. Then compile and upload the firmware:</p><div class="language-bash ext-sh"><pre class="language-bash"><code><span class="token function">make</span> px4_fmu-v4_default upload
</code></pre></div><p>Where <code>px4_fmu-v4_default</code> is the required firmware variant.</p><p>In order to upload the <code>v3</code> firmware to Pixhawk, you may need to use the <code>force_upload</code> option:</p><div class="language-bash ext-sh"><pre class="language-bash"><code><span class="token function">make</span> px4_fmu-v3_default force-upload
</code></pre></div><!--]--></div><footer class="page-meta"><div class="meta-item edit-link"><a class="external-link meta-item-label" href="https://github.com/CopterExpress/clover/edit/master/docs/en/firmware.md" rel="noopener noreferrer" target="_blank" aria-label="Edit this page"><!--[--><!--]--> Edit this page <span><svg class="external-link-icon" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" focusable="false" x="0px" y="0px" viewbox="0 0 100 100" width="15" height="15"><path fill="currentColor" d="M18.8,85.1h56l0,0c2.2,0,4-1.8,4-4v-32h-8v28h-48v-48h28v-8h-32l0,0c-2.2,0-4,1.8-4,4v56C14.8,83.3,16.6,85.1,18.8,85.1z"></path><polygon fill="currentColor" points="45.7,48.7 51.3,54.3 77.2,28.5 77.2,37.2 85.2,37.2 85.2,14.9 62.8,14.9 62.8,22.9 71.5,22.9"></polygon></svg><span class="external-link-icon-sr-only">open in new window</span></span><!--[--><!--]--></a></div><!----><!----></footer><nav class="page-nav"><p class="inner"><span class="prev"><a href="/clover-vuepress/en/flight_logs.html" class="" aria-label="PX4 Logs and Topics"><!--[--><!--]--> PX4 Logs and Topics <!--[--><!--]--></a></span><span class="next"><a href="/clover-vuepress/en/mavlink.html" class="" aria-label="MAVLink"><!--[--><!--]--> MAVLink <!--[--><!--]--></a></span></p></nav><!--[--><!--]--></main><!--]--></div><!----><!--]--></div>
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