Mission Planner

This page shows you how to configure your ArduPilot UAV described in ArduPilot using Mission Planner. To begin, open Mission Planner and connect to your UAV.

Configuring Serial Ports

In Mission Planner, click on "SETUP", then "Mandatory Hardware", then "Serial Ports". Find the serial port that matches the port you used in Flight Controller and configure the Protocol to MAVLink 2 and the Speed (baud rate) to 921600.

Restart your autopilot after setting the serial port.

Changing the default baud rate

Your flight controller may be limited to a baud rate other than 921600. In this case, you will need to change the baud rate your Micro VPS uses. The Micro VPS uses very little bandwidth and should work with most common baud rates. You can edit the baud rate through the Theseus GCS App by going to the flight controller settings panel.

You should see a widget at the top that allows you to configure the baud rate. If the widget is missing, you need to update both the GCS App and the VPS to Version 1.7.7 or higher. Check out VPS Firmware Updates for more info on updating your system.

This feature only configures the baud rate for the Micro VPS; you need to also configure the baud rate on your flight controller.

Editing ArduPilot Parameters

Navigate to the "CONFIG" tab on main menu, then "Full Parameter List", then click on the "Search" bar in the menu to the right of the screen.

Make sure to click "Write Params" to the right of the list before exiting the Full Parameter List!

Set GPS_AUTO_SWITCH to 0 and GPS_BLEND_MASK to 0.

Set GPS2_TYPE to 14.

Set EK3_SRC_OPTIONS to 0.

Set EK3_MAG_CAL to 3.

Set BRD_RTC_TYPES to 2.

Set EK3_GPS_CHECK to 23.

Set EK3_SRC1 param values as shown below.

Once you have set all your parameters, click the "Write Params" button on the right side of the screen before exiting.

All parameters have been written to the autopilot from Mission Planner.