下面用matek f765-wing 飞控做为示例

刷前准备:支持ardupilot的飞控一个一根usb数据线，必须能传输数据电调一台

支持ardupilot的飞控列表: https://ardupilot.org/plane/docs/common-autopilots.html#common-autopilots

首先，在电脑上下载betaflight地面站地面站下载链接: https://github.com/betaflight/betaflight-configurator/releases/tag/10.7.0 翻到最下面，并下载适合的configurator(windows电脑选择下载鼠标点的那个)

betaflight configurator安装好后，进入图片页面，并点击鼠标指的"这里"，下载zadig

会在浏览器跳出来这样的页面

点击下载，zadig2.5

如果不能下载请百度自行搜索zadig2.5,并安装

打开zadig

连接电脑和飞控，按照图片步骤操作，由于我以前刷过固件，所以选择stm32 bootloader。如果是新飞控，选择带有stm32的标签，其他操作均相同

ardupilot固件在此(包括rover,plane,copter,antenna tracker,sub)链接: https://ardupilot.org/ardupilot/docs/common-downloads_firmware.html#common-downloads-firmware

我飞固定翼，准备用matek f765-wing 做个小垂起plane latest 版固件链接: https://firmware.ardupilot.org/Plane/latest/ matek f765-wing plane latest版固件链接: https://firmware.ardupilot.org/Plane/latest/MatekF765-Wing/

matek f405-wing plane latest版固件链接: https://firmware.ardupilot.org/Plane/latest/MatekF405-Wing/

f4v3s plane latest版版固件链接: https://firmware.ardupilot.org/Plane/latest/omnibusf4/

一般选这个arduplane_with_bl.hex(图片里鼠标指的)

下载好后，放在桌面或容易记住的地方，我放在了桌面上的"matek f765"文件夹

按照图片操作，直到烧录成功

在烧录时记得把无重启序列打开，否则可能会有问题

烧录完成后可以看到，在"端口(com和lpt)"，有ardupilot(COM…)，如果有的话烧录固件就成功了

Ardupilot固件烧录完毕

Ardupilot各种简单的调参：

ardupilot调参必备的两个软件: qgroundcontrol，mission planner

qgroundcontrol下载链接: http://qgroundcontrol.com/

mission planner下载链接: https://ardupilot.org/planner/docs/mission-planner-installation.html

这两个软件下载都比较慢，如果想快点建议在某些QQ群里下载，但官网的软件才是最正宗的，不会出一些奇奇怪怪的问题

比较重要的ardupilot plane官方wiki飞控硬件: https://ardupilot.org/plane/docs/common-autopilots.html#common-autopilots

周边硬件: https://ardupilot.org/plane/docs/common-optional-hardware.html

全部参数: https://ardupilot.org/plane/docs/parameters.html

ardupilot plane官方wiki 飞行模式(总): https://ardupilot.org/plane/docs/flight-modes.html

辅助性参数: https://ardupilot.org/plane/docs/common-auxiliary-functions.html

电调(bl32与dshot)设置: https://ardupilot.org/plane/docs/common-dshot.html#common-dshot

pwm舵机: https://ardupilot.org/plane/docs/common-servo-landingpage.html

数传: https://ardupilot.org/plane/docs/common-telemetry-landingpage.html

信号强度(RSSI): https://ardupilot.org/plane/docs/common-rssi-received-signal-strength-indication.html

gps与罗盘: https://ardupilot.org/plane/docs/common-positioning-landing-page.html

空速计: https://ardupilot.org/plane/docs/airspeed.html

外置气压计: https://ardupilot.org/plane/docs/common-baro-external.html

相机与云台: https://ardupilot.org/plane/docs/common-cameras-and-gimbals.html

还有比较高深的ardupilot plane官方wiki:

lua脚本(仅支持f7,h7飞控): https://ardupilot.org/plane/docs/common-lua-scripts.html?highlight=lua

电机与桨效率: https://ardupilot.org/plane/docs/drivecalculator-guide.html

光学传感器(距离): https://ardupilot.org/plane/docs/common-optical-flow-sensors-landingpage.html

距离传感器: https://ardupilot.org/plane/docs/common-rangefinder-landingpage.html

继电器与开关: https://ardupilot.org/plane/docs/common-relay.html

UAVCAN总线: https://ardupilot.org/plane/docs/common-uavcan-peripherals.html

机载计算机: https://ardupilot.org/dev/docs/companion-computers.html#companion-computers

后续写一篇调参的专栏