DOWNLOADS: Firmware — Mission Planner documentation

DOWNLOADS: Firmware — Mission Planner  documentation Конструкторы

Apm2.x autopilot

Bootloader for APM2.x autopilot series

You need AVR programmer with ISP connector to burn these boot loaders.

Arducopter apm 1.0 firmware

ArduCopter v3.2.1 firmware for APM 1.0. This is the last build of ArduCopter that still fits on the APM 1.0 boards.

Arducopter apm 2.x firmware

ArduCopter v3.2.1 firmware for APM 2.x. This is the last build of ArduCopter that still fits on the APM 2.x boards.


Bootloaders for various electronics created by ArduPilot Group

Downloads: firmware — mission planner documentation


The following firmware is “special” in that it represents some significant milestone – e.g. “the last version of a build for a particular autopilot”.


– for fixed wing aircraft

CopterCopter – for multicopters and
traditional helicoptersRoverRover – for land vehicles and boatsSubSub – for ROVs and underwater vehiclesBlimpBlimp – for lighter-than-air vehiclesAntennaTrackerAntenna Tracker
for antenna tracking of ArduPilot vehiclesMissionPlannerMissionPlanner – Mission Planner toolAPM Planner 2.0APM Planner 2.0 – APM Planner 2.0 toolRadioSiK – SiK Radio FirmwareToolsTools – Build and development toolsToolsDevBuild – Developer buildsCompanionCompanion – Companion Computer example code and ImagesAP_PeriphAP_Periph – UAVCAN Peripheral Firmware


This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

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This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
GNU General Public License for more details.

Loading firmware on linux or macos

To load a firmware on a Linux or MacOS machine you will need to

python script. You can run it like this:

python Tools/scripts/ --port /dev/ttyACM0 build/Pixracer/bin/arducopter.apj

After starting the script, press the reset button on your device to
make it enter bootloader mode.


Ardupilot is comprised of several parts, vehicles and boards. The list below
contains the people that regularly contribute to the project and are responsible
for reviewing patches on their specific area. See also the list of developers with merge rights.

  • Andrew Tridgell:
    • Vehicle: Plane, AntennaTracker
    • Board: APM1, APM2, Pixhawk, Pixhawk2, PixRacer
  • Francisco Ferreira:
  • Grant Morphett:
  • Jacob Walser:
  • Lucas De Marchi:
  • Michael du Breuil:
    • Subsystem: Batteries
    • Subsystem: GPS
    • Subsystem: Scripting
  • Peter Barker:
    • Subsystem: DataFlash, Tools
  • Randy Mackay:
    • Vehicle: Copter, Rover, AntennaTracker
  • Tom Pittenger:
  • Bill Geyer:
  • Chris Olson:
  • Emile Castelnuovo:
  • Eugene Shamaev:
    • Subsystem: CAN bus
    • Subsystem: UAVCAN
  • Georgii Staroselskii:
  • Gustavo José de Sousa:
  • Julien Beraud:
  • Leonard Hall:
    • Subsystem: Copter attitude control and navigation
  • Matt Lawrence:
    • Vehicle: 3DR Solo & Solo based vehicles
  • Matthias Badaire:
  • Mirko Denecke:
    • Board: BBBmini, BeagleBone Blue, PocketPilot
  • Paul Riseborough:
    • Subsystem: AP_NavEKF2
    • Subsystem: AP_NavEKF3
  • Pierre Kancir:
    • Subsystem: Copter SITL, Rover SITL
  • Víctor Mayoral Vilches:
    • Board: PXF, Erle-Brain 2, PXFmini
  • Amilcar Lucas:


Operating a powered vehicle of any kind can be a lot of fun.
However, nothing will ruin your day at the park more quickly than an accident or running afoul of the law.
Since we want you to have a great experience, please make sure that you do all of the following:

  • Operate within all local laws and regulations.
    For example, in the United States, current regulations require you to operate most UAVs under 400
    foot above ground level, within line of site, and away from obstructions and populated areas.
    Since these regulations vary from place to place, even within the same country, ensure that
    you understand what you need to do to stay compliant.
  • Never operate the vehicle or software in a way that could be dangerous to you, other people, or property.
    Propellers, while rotating, could easily cut you; if a UAV fell on a person or object,
    it could cause injury; a UAV caught in power lines could cause an outage.
    As Ben Franklin said, “An ounce of prevention is worth a pound of cure.”
  • Always keep in mind that software and hardware failures happen.
    Although we design our products to minimize such issues, you should always operate with the understanding that
    a failure could occur at any point of time and without warning.
    As such, you should take the appropriate precautions to minimize danger in case of failure.
  • Never use the software or hardware for manned vehicles.
    The software and hardware we provide is only for use in unmanned vehicles.
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[copywiki destination=”copter,plane,rover,planner,planner2,antennatracker,dev,ardupilot,mavproxy”]

Types of firmware available

To choose a firmware to download you need to choose:

  • The type of board that you have
  • Whether you want the stable, beta or latest version of the

The meanings of the versions are

For each vehicle type a firmware image is available for each type of
autopilot board supported by that vehicle type.

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