1 Download software

Follow the instructions here to download Mission Planner or APM Planner to begin calibrating your copter.


2 Launch wizard

Open the mission planner application, and connect Pixhawk to your computer using the micro-USB cable. Connect a battery to the power module XT60 connector to power your copter. It is essential that you have no propellers attached to your copter during this process.

Select Initial Setup and Wizard to launch the calibration wizard. The wizard will prompt you through each step of configuring and calibrating your copter.

1. Install firmware
Select your frame type to install firmware. Listen for the tone once firmware installation is complete. You may need to perform the extra step below to complete installation.

2. Frame type
Select the symmetrical quad frame for a 2014 Quad. For a 2014 Y6, ensure that you select Y6B.

3. Calibrate accelerometer
Follow the prompts to complete accelerometer calibration. Make sure to rest the copter in each position for a few seconds before moving to the next position.
4. Calibrate compass
Follow the prompts to complete compass calibration.
5. Battery monitor
Select 3DR Power Module for both options to enable battery monitoring using the power module. Click here for more information about battery monitoring setup.
6. Sonar
Select the options to enable sonar. If you do not have sonar sensors installed on your copter, select Next to skip sonar configuration.
7. Calibrate radio control
Ensure that your RC transmitter and receiver are bound before performing calibration. Turn on your RC transmitter, and select Calibrate Radio. Select Calibrate to start, and move the sticks and switches on your transmitter to all possible positions. Check to see the red bars stop at the extremes of each control. When each channel has a correct minimum and maximum limit set by the red bars, select Click when Done to complete.
8. Select flight modes
Move the switches on the transmitter, and assign a flight mode to the green-highlighted entry for each position of the switch. Visit the APM:Copter Wiki to learn more about flight modes.
9. Failsafe
Failsafes are pre-programmed behaviors that can be assigned to your copter in the case of specific failure conditions. Visit the APM:Copter Wiki to learn more about configuring throttlebattery, GPS, and ground control station failsafes.
10. Geofence
Configuring a geofence allows the autopilot to restrict the copter to a predefined area during flight. Visit the APM:Copter wiki to learn more about configuring a geofence.

3 Calibrate ESCs

    Check out this video to learn how to calibrate your copter’s ESCs.    


4 Test motor rotation

    Once you have verified that the motors spin at the same rate, check the direction of rotation for each motor: clockwise (CW) or counterclockwise (CCW). The motors should spin in the directions shown below for Quad and Y6.    
Quad motor rotation order
Y6 motor rotation order
If any of the motor rotations need to be reversed, undo the steps of this build until you can access the connection between the motors and ESCs. To reverse the order of a motor, switch two of the cables connecting the motor to the ESC. In the example below, one order of motor-to-ESC wiring produces one direction of rotation and the other produces a reversed rotation.    
clockwise rotation wiring
counterclockwise rotation wiring