Upgrade firmware

This article mainly describes how to upgrade the firmware for C-RTK2 HP.

Preparations before upgrade

Flight controller running ArduPilot firmware
Download Dronecan GUI/Mission Planner
Connect C-RTK2 HP to flight controller
Download firmware file

Set flight controller parameters

To upgrade the C-RTK2 HP firmware through the flight controller, you also need to set the following parameters in the Mission plannerd ground station"All parameter table:

For flight controllers using STMF7XX/STMH7XX as MCU:

"CAN_SLCAN_CPORT set to 2
'Serial7_Protocol set to 22

Reboot

NOTE These flight controllers will have two usb driver ports in AP4.0/AP4.0 and above firmware, one is the flight controller mavlink output port, and the other is the slcan port; if there are no two ports, please uninstall the driver and reinstall)

For flight control using STM32F4xx as MCU

CAN_SLCAN_CPORT set to`1`
CAN_SLCAN_TIMEOUT set to 130000
CAN_SLCAN_SERNUM set to 0

Do not reboot until the upgrade is complete.

[!NOTE] STM32F4 does not support dual virtual USB ports, so the flight control of FMU v5 and below (not included) can only be used for SLCAN after turning off MAVlink transmission; after the above settings, USB will stop outputting mavlink data and change to SCLAN port; MAVlink will be restored after restarting transmission.