Configure PX4 Firmware and QGroundControl

R2026b

This topic describes how to install QGroundControl (QGC), install PX4® firmware, calibrate sensors, configure parameters for indoor flight, and verify system readiness before flight.

Install QGroundControl

If QGroundControl is not already installed, install it and verify communication with the Pixhawk 6C flight controller. If you already have QGroundControl installed, skip to Install PX4 Firmware.

  1. Download and install QGroundControl (version 4.3.0).

  2. Start QGC.

  3. Connect the Pixhawk 6C to the host computer using a USB cable.

Verify Installation.  Confirm that QGC detects the Pixhawk 6C and displays the vehicle summary screen.

Install PX4 Firmware

Flash PX4 firmware onto the Pixhawk 6C using QGroundControl.

  1. In QGroundControl, navigate to Vehicle Setup > Firmware.

  2. Disconnect and reconnect the Pixhawk 6C when prompted.

  3. Select PX4 Pro Stable v1.16.

  4. Wait for the firmware installation to complete.

Verify Firmware Flash.  

  • Confirm that the firmware version displays correctly in QGroundControl.

  • Verify that no firmware update errors are reported.

Calibrate Sensors

Calibrate the onboard sensors using QGroundControl to ensure accurate state estimation.

  1. Open Vehicle Setup > Sensors in QGroundControl.

  2. Perform the following calibrations:

    • Compass — Rotate the vehicle in all orientations as prompted.

    • Gyroscope — Place the vehicle on a flat, stable surface and keep it stationary.

    • Accelerometer — Place the vehicle in each required orientation.

    • Level Horizon — Place the vehicle in its normal flight orientation on a level surface.

QGroundControl Sensors calibration screen showing compass calibration with six aircraft orientations required for complete calibration.

Verify Calibration.  Confirm that all sensor calibration indicators show success (typically green status).

Configure Indoor Flight Parameters

Set parameters required for GPS-denied indoor flight using optical flow and a rangefinder.

  1. In QGroundControl, open Vehicle Setup > Parameters.

    QGroundControl Parameters screen showing the full list of parameters with name, value, and description columns, with the Modified filter tab highlighted.

  2. Set the following parameters:

Indoor Flight Parameters

ParameterValueDescription
EKF2_AID_MASK2Use optical flow for horizontal position
EKF2_HGT_REF2Use rangefinder for height reference
EKF2_RNG_AID1Enable rangefinder aiding
EKF2_OF_CTRL1Enable optical flow fusion
SENS_FLOW_ROT0Flow sensor rotation (adjust if required)
COM_ARM_WO_GPS1Allow arming without GPS

After setting the parameters, use the Modified filter in the Parameters screen to verify all changed values.

Verify Configuration.  

  • Confirm that parameter values are applied without errors.

  • Verify that optical flow and rangefinder data are available in QGroundControl.

Validate Pre-Arm Checks

Verify system readiness before flight.

  • Sensor calibration status shows no warnings or errors.

  • EKF status is healthy (no critical warnings).

  • Position estimate is valid using optical flow and rangefinder data.

  • RC transmitter is connected and channels are mapped correctly.

  • Battery voltage is within the expected range.

Warning

Verify that the Arm, Land, and Kill switches are assigned and functioning correctly before flight. If the multicopter behaves unexpectedly after arming, use the Land switch to command a landing. If the multicopter does not respond to the landing command or an immediate motor shutdown is required, use the Kill switch.