Flight Controller Setup Guide

QGroundControl

How to Install QGroundControl

QGroundControl (QGC) is the essential software used to flash, configure, and calibrate your flight controller.

Visit the QGroundControl v5.1.4 release page and download the installer compatible with your operating system (Windows, Linux, or macOS).

Run the installer. If the installer prompts you to install additional drivers, ensure you accept them to allow proper communication with the flight controller.

For more in-depth information, refer to the official QGroundControl User Guide.

How to Upload Firmware

Before configuring your quadcopter, flash the latest stable firmware to the flight controller.

Download the stable PX4 1.16.1 firmware for MicoAir H743 V2: micoair_h743-v2_default.px4

Flashing Steps:

1. Ensure the flight controller is disconnected from your computer.

2. Open the QGroundControl application.

3. Go to the Vehicle Configuration panel and select the Firmware menu.

4. Plug the flight controller into your computer using a USB cable.

5. In the QGC menu, select the corresponding serial port for your flight controller.

6. QGC will prompt you to enter bootloader mode. To do this, disconnect the USB cable and reconnect it.

Flight Controller Reboot

8. Once QGC detects the controller, a window will appear. Select PX4 Flight Stack.

9. Open Advanced settings.

10. From the drop-down menu, select Custom firmware file.... Click OK.

Firmware Uploaded to QGroundControl

11. Select the micoair_h743-v2_default.px4 file you previously downloaded.

Warning

Do not disconnect the flight controller during the upload process. Interrupting this step may damage the firmware.

Wait for the upload to finish and for the flight controller to reboot automatically.

Post-Installation Configuration

QGroundControl Configuration

Once the firmware is installed, you must configure the following sections in order:

1. Airframe. Define your frame geometry.

2. Radio. Set up your control equipment.

3. Sensors. Calibrate all onboard sensors.

4. Flight Modes. Define your flight control profiles.

Frame Configuration

Frame Geometry Configuration in QGroundControl

Setting the correct airframe ensures the flight controller understands how to apply motor outputs.

1. Navigate to the Vehicle Configuration panel.

2. Select the Airframe menu.

3. Choose Quadrotor X as the frame type.

4. Choose Generic Quadcopter as the subtype.

5. Scroll to the top of the list and click Apply and Restart.

6. Confirm the settings by clicking Apply.

7. Wait for the flight controller to complete the configuration and reboot.

Parameter Configuration

Parameters fine-tune how the flight controller behaves.

1. Go to the Vehicle Configuration panel and select the Parameters menu.

2. Use the Search field to locate specific parameters.

3. Enter the required values.

4. You must click Save after changing each parameter to ensure the change is applied.

QGroundControl Parameters

If changes do not take effect, go to the Tools menu and select Reboot vehicle.

To save time and ensure accuracy, you can load a pre-configured parameter file:

1. Navigate to the Parameters menu.

2. Click Tools and select Load from file....

3. Select the appropriate file clover5.params.

4. Wait for the process to finish, then verify that the values have been applied correctly.

PID Controller Tuning

The PID (Proportional-Integral-Derivative) controller manages the stability of your drone. For initial setup, use the following averaged coefficients:

• MC_PITCHRATE_P = 0.176

• MC_PITCHRATE_I = 0.213

• MC_PITCHRATE_D = 0.0018

• MC_ROLLRATE_P = 0.176

• MC_ROLLRATE_I = 0.213

• MC_ROLLRATE_D = 0.0018

• MC_YAWRATE_P = 0.25

• MC_YAWRATE_I = 0.09

• MPC_XY_P = 1.8

• MPC_Z_P = 1.5

• MPC_XY_VEL_P_ACC = 3.45

• MPC_XY_VEL_D_ACC = 0.15

• MPC_XY_VEL_I_ACC = 1.0

• MPC_Z_VEL_P_ACC = 5.5

• MPC_Z_VEL_I_ACC = 2.3

• MPC_THR_HOVER = 0.4

• MPC_ACC_DOWN_MAX = 2.0

Tip

While these averaged values provide a stable starting point, ideal flight performance requires manual PID tuning tailored to your specific quadcopter’s weight, center of gravity, and motor efficiency.