> For the complete documentation index, see [llms.txt](https://docs.theseus.us/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.theseus.us/cyclops/autopilot-integration/ardupilot/guided-setup-from-gcs/qgroundcontrol.md).

# QGroundControl

This page shows you how to configure your ArduPilot drone like described in [ArduPilot](/micro-vps/autopilot-integration/ardupilot.md) using QGroundControl (QGC).

## Configuring Serial Ports

On the main panel on QGC, click on the QGC logo on the top left corner of the screen, then in the "Select Tool" pop up menu, select "Vehicle Setup". At the bottom of the menu on the left side of the screen on the Vehicle Setup page, click on "Parameters". Then, click on the search bar at the top of the screen to search for your parameter.

Search for the serial port which matches the setting you chose in [Flight Controller](/micro-vps/vehicle-integration/flight-controller.md). In our case, it is serial2.

We use a default baud of **921600**, but this is configurable and can be changed with Vozilla [System](/gcs-software/legacy-software/vozilla-legacy/system.md#configuring-mavproxy)

<figure><img src="/files/yawejM41j6ovFYlvfHlR" alt=""><figcaption></figcaption></figure>

## Editing ArduPilot Params

Set **GPS\_BLEND\_MASK to 0** and **GPS\_AUTO\_SWITCH to 0** (use primary).

<figure><img src="/files/8kNpZ1PZ4AKTatUoWXdT" alt=""><figcaption></figcaption></figure>

Set **EK3\_SRC\_OPTIONS to 0**.

<figure><img src="/files/xwziDi2yZ7FPFvUXem7R" alt=""><figcaption></figcaption></figure>

Set **EK3\_MAG\_CAL to 3** (after first climb yaw reset).

<figure><img src="/files/TMrJWfpgbiAfNVA04s1o" alt=""><figcaption></figcaption></figure>

Set EK3\_SRC1 param values.

<figure><img src="/files/uglLA0l7kOwzkFUn0Cvi" alt=""><figcaption></figcaption></figure>

Set **EK3\_GPS\_CHECK to 23**.

<figure><img src="/files/q8RKXXyh4lreXbjjFKik" alt=""><figcaption></figcaption></figure>

Set **BRD\_RTC\_TYPES to 2**.

<figure><img src="/files/W2Erd6Bo7q4wFBSd2JXY" alt=""><figcaption></figcaption></figure>

{% hint style="success" %}
All parameters have been written to the autopilot from QGroundControl.
{% endhint %}