BlueROV-11: Full Flight Control and Mission Planning with QGroundControl

1. Pixhawk Initial Configuration using qgroundcontrol:
http://dev.px4.io/starting-initial-config.html
Calibrate the sensors first:



Download the xbox 360 driver: http://www.tweaking4all.com/os-tips-and-tricks/macosx-tips-and-tricks/xbox-360-controller-on-mac/ 
Try to calibrate the joystick, but qgroundcontrol cannot sense the throttle of the joystick. The joystick works well in the xbox control driver. Why?



2. The problem that the battery cannnot be sensed by dronekit is fixed by changing the "Battery monitor" from "Disabled" to "Analog Voltage and Current".



3. The problem that the throttle of joystick cannnot be sensed by qgroundcontrol is fixed by changing the "Throttle failsafe" from "Disabled" to "Continue with Mission in Auto Mode".



After the calibration of joystick, a message appears. 

The calibration works well, but I don't know the meaning of the message.



Then after looking up messages in the bluerov forum, I got the answer:
https://www.bluerobotics.com/forums/topic/joystick-support-requires-mavlink-manual-control-support/
4. New problem: the LiPo battery cannot charged.

The voltage left in the battery is about 3.6 volts now and as the webpage says, the LiPo battery should be charged once its power is under 10 volts.

So from now on I need to test the power voltage often and make sure that the power is above 10 volts.

And now the method to fix the problem is to let the battery charged a little while in the LiFe mode until the power is enough to use in the LiPo mode. This method is dangerous and needs supervison.

5. Building ArduSub on Pixhawk/PX4:

In the terminal:

brew tap PX4/homebrew-px4
brew update
brew install genromfs
brew install gcc-arm-none-eabi
brew install gawk
sudo easy_install pip
sudo pip install pyserial
mkdir -p px4
cd px4
git clone --recursive https://github.com/bluerobotics/ardusub.git[/code] 
Set the current path to:/Users/apple/px4/ardusub/ArduSub

make clean

The commands below show how to build for Pixhawk2/Pixhawk on the different platforms. To build for PX4 replace make px4-v2 with make px4-v1.
make px4-v2-bluerov
Copter: