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The flight controller (FC) implements several low-level behaviors, e.g., stabilizing the Duckiedrone around roll, pitch, and yaw through three different PID controllers. Correctly configuring the FC is critical for flying safely.

Installing Cleanflight Configurator (CFC)

Cleanflight configurator is an app that allows the base station to connect directly to the FC and access its configuration interface.

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• Install Google Chrome

• Install the Cleanflight Configurator for Chrome

• Start CFC on your base station. You should see the below interface.

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Connecting to the Flight Controller (FC)

1. Unplug the battery from your drone

   1. Status
      colour Red title IMPORTANT

      double-check the battery is unplugged

2. Disconnect the Raspberry Pi from the FC

3. Connect the mini USB cable to from your FC and to your base station

4. Start CFC on your base station. You should see the interface shown at the end of this section.

5. Select In CFC (see last section), on the top right corner

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   1. select the correct connection port

   in the top right corner

   1. • Status
        colour Yellow title Note

        Details might vary depending on available connections on your base station

      , but the

      • . The correct port should start with: /dev/tty.usbserial* /dev/cu.usbserial* or /dev/ttyUSB*

   2. Leave the baud rate (number) at the

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      colour Green title default

      value of 115200

6. Press the “Connect”

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1. button and a “Setup” page should greet you with a rendering of your drone (see figure below). Before configuring anything, please read the next section and check the firmware version first.

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Updating the FC firmware (Flashing the FC)

FCs might have different versions of firmware (i.e., the software that runs on the FC’s microcontrollermicro-controller) out of the factory. Normally, this only needs to be done once initially. Follow this procedure to update your firmware.

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• Blue title

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• FACt

  Our current target firmware is: BTFL 3.3.3

Checking the existing firmware version

On the top left of the CFC interface, please check for the Firmware version. For example, in the figure below, the firmware version of the FC is BTFL 3.3.3.

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Regardless of the firmware version, if it is the first time setting up the FC, we recommend performing the below flashing procedure once anyways in order to start from a clean state.

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Image RemovedImage AddedFC(external microUSB) flash firmware.mp4

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(Update to BTFL 3.3.3 - although successful flight tests have been conducted with 2.4.0 and 3.0.1)

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A “Setup” page should greet you with a rendering of your drone:

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This page can be used to do a quick test of the onboard IMU: move the drone and verify that the rendering of the drone moves. Don’t expect it to be perfect as we still need to calibrate everything.

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