Build custom Ardupilot firmware for your board here: https://custom.ardupilot.org/
The minimum set of components required for Flight Cach are:
- Enable EKF2, EKF3, Wind estimation for EKF3
- BMP280 Barometric Sensor
- In-Flight compass learning
- Fixed-Yaw Compass Calibration,
- HMC5843 compasses,
- @MISSION/ filesystem,
- @PARAM/ filesystem,
- @ROMFS/ filesystem,
- @SYS/ filesystem,
- NMEA GPS,
- NMEA Unicore GPS,
- U-blox GPS,
- Batch sampler,
- InertialSensor harmonic notch filters,
- MAVLink FTP protocol,
- MISSION_REQUEST MAVLink messages,
- DeviceOp MAVLink messages,
- Serial Control MAVLink messages,
- Old REQUEST_AUTOPILOT_CAPABILITIES command,
- Bootloader flashing,
- Buttons,
- “Tumble” compass calibration,
- Custom sensor rotations,
- Logging,
- Formatting of microSD cards,
- Blackbox logging
– please note that Blackbox feature is enable and default settings are 5m/s. It means that while on the ground, the system will be disarmed (enabling configuration and calibration, no logging). The system will be armed when the model moves faster then 5m/s, enabling logging to the SD card.
– updating FW in Ardupilot, normally preserves the parameters hence no new calibration is required. It is a good practice to check the basic level calibration now and then.
– updated version may exhibit larger log file size due to the default logging configuration for some groups of messages. This can be controlled reviewing logging rates for SR0_xxx parameters.