Quiver Firmware
Custom ArduCopter build for the Quiver dev kit (Pixhawk 6C).
Custom Build Features
This firmware adds the following on top of the standard ArduCopter release:
RPLidar S2 Support
Cherry-picks PR #31663 from ArduPilot upstream.
- Adds RPLidar S2 as a proximity sensor (
PRX1_TYPE = 5) - Reuses the RPLidar A2 serial protocol with an additional dense-express scan mode
- Connect to SERIAL3:
SERIAL3_PROTOCOL = 11,SERIAL3_BAUD = 1000(1 Mbaud)
PPP Networking (Raspberry Pi Ethernet over UART)
- Enables PPP protocol on SERIAL2 to bridge Ethernet from the Raspberry Pi
- Allows Mission Planner / MAVProxy to connect to the Pixhawk over the RPi network
- Enable via
parameters/params-ethernet.param(disabled by default)
Temperature Sensors
Enables support for: MCP9600, MLX90614, TSYS01, TSYS03 (I2C).
OpenDroneID (Remote ID)
Enables ArduPilot's OpenDroneID support (AP_OPENDRONEID_ENABLED) for use with the DroneBeacon db201 or any external Remote ID transponder.
- Connects via DroneCAN (CAN1, already configured)
- The standard Pixhawk 6C bootloader is unchanged — firmware can still be updated freely
- Enable via
parameters/params-remoteid.param(disabled by default)
Firmware File
| File | Description |
|---|---|
arducopter-pixhawk6c.apj | Compiled firmware — flash via Mission Planner or QGroundControl |
Flashing
- Open Mission Planner →
Setup→Install Firmware→Load custom firmware
or open QGroundControl →Vehicle Setup→Firmware→Advanced settings→Custom firmware - Select
arducopter-pixhawk6c.apj - After flashing: full parameter reset, then load parameter files below
Parameters
Load in order:
| File | Purpose |
|---|---|
parameters/standard-params.param | Base configuration — load this first on every drone |
parameters/params-ethernet.param | (optional) Enable PPP networking via Raspberry Pi |
parameters/params-object-avoidance.param | (optional) Enable RPLidar S2 obstacle avoidance |
parameters/params-remoteid.param | (optional) Enable DroneBeacon db201 Remote ID via DroneCAN |
See parameters/PARAMETER_NOTES.md for full documentation.
⚠️ After loading parameters, perform compass calibration, accelerometer calibration, and RC calibration — these are drone-specific and not included in the standard file.