PX4 requires a standard configuration sequence before a vehicle is ready to fly. You perform almost all of this configuration through QGroundControl (QGC), a free desktop application that communicates with PX4 over MAVLink. This page walks you through the complete workflow from a blank flight controller to a tuned, flight-ready aircraft.Documentation Index
Fetch the complete documentation index at: https://mintlify.com/PX4/PX4-Autopilot/llms.txt
Use this file to discover all available pages before exploring further.
Complete the steps in the order listed below. Firmware and airframe selection must come first. Tuning must come last. All other steps can be reordered if needed, but following the sequence here prevents the most common configuration mistakes.
Prerequisites
Download and install QGroundControl on a desktop or laptop computer. Mobile versions of QGC do not support vehicle setup. Once QGC is running, open the “Q” icon in the top-left corner and choose Vehicle Setup from the popup menu.Configuration workflow
Load firmware
Connect your flight controller to the computer via USB. In QGC, go to Vehicle Setup > Firmware and let QGC detect the device. Select PX4 Pro Stable Release (or a specific version if required) and click OK to flash. The controller reboots automatically when the upload completes.
Select airframe
Navigate to Vehicle Setup > Airframe. Choose the vehicle type (multicopter, fixed-wing, VTOL, rover, etc.) and then the specific frame that most closely matches your build. Click Apply and Restart to write the airframe defaults and reboot the controller.Selecting the correct airframe sets appropriate default parameters for motor mixing, PID gains, and failsafe behavior. You can always fine-tune parameters later.
Configure actuators and ESCs
Go to Vehicle Setup > Actuators to assign motors and servos to flight controller outputs, verify motor spin directions, and set PWM ranges. If your ESCs require calibration, run the ESC calibration procedure from Vehicle Setup > Power.
Calibrate sensors
Navigate to Vehicle Setup > Sensors and run each calibration in order:
- Sensor orientation — set the physical mounting angle of the flight controller if it is not mounted upright and pointing forward.
- Compass (magnetometer) — rotate the vehicle through the prompted orientations.
- Gyroscope — place the vehicle on a flat surface and hold it still.
- Accelerometer — hold the vehicle in each of the six orientations shown.
- Level horizon — place the vehicle on a flat surface to set the neutral hover attitude.
- Airspeed (fixed-wing and VTOL only) — cover the pitot tube and follow the on-screen instructions.
Set up radio control
Navigate to Vehicle Setup > Radio. Turn on your RC transmitter, click Calibrate, and move all sticks and switches through their full range of motion when prompted. QGC records the minimum, maximum, and trim values for each channel.After calibration, verify that stick movements produce the expected responses in the channel monitor.
Assign flight modes
Navigate to Vehicle Setup > Flight Modes. Select the RC channel your transmitter uses for mode switching, then assign a flight mode to each switch position. At minimum, assign Position mode and Return mode to distinct switch positions.See Assigning Flight Modes to RC Switches for recommended mode sets.
Configure battery and safety
Navigate to Vehicle Setup > Power to enter your battery cell count and capacity, enabling PX4’s voltage-based fuel gauge and low-battery failsafe.Navigate to Vehicle Setup > Safety to configure failsafe actions for scenarios such as RC signal loss, low battery, and geofence breaches.
Explore configuration topics
Parameters
Read, change, and save PX4 parameters using QGroundControl or MAVLink.
Sensor calibration
Step-by-step calibration for accelerometer, gyroscope, compass, barometer, and airspeed sensor.
Flight modes
Map flight modes to RC transmitter switches for safe and predictable mode switching.
Advanced configuration
EKF2 tuning, land detector, prearm checks, OEM factory calibration, and more.