Document Crosswalk and Differences¶
This guide covers Mission Planner V2 (34 pages), IMU600-V2 Protocol v1.1 (33 pages) and User Manual v1.1 (40 pages): 107 pages total. Topic pages organize the technical content; complete source-page readers retain tables, wiring diagrams, front matter and copyable original text.
Source readers retain Traditional Chinese; topic pages are available in Chinese, English and Japanese. Use the tables below to find the web page for each PDF chapter. Hardware test results remain subject to the conditions in the original documents.
Mission Planner V2¶
All Source Pages and Text · PDF
| PDF Pages | Source Section / Content | Topic Page |
|---|---|---|
| 1–2 | Front Matter and Contents | Read |
| 3 | Product and USB / COM Connection | Read |
| 4–5 | Orientation, Mounting and Vibration | Read |
| 6 | Motor Order and Test | Read |
| 7–10 | HUD 0–12, EKF, GPS, Battery and Vibe | Read |
| 11–14 | Frame, Accelerometer and Compass Calibration | Read |
| 15–18 | Radio, Modes, Initial Parameters and Final Checks | Read |
| 19 | PID Tuning Example | Read |
| 20–22 | Power Rails, Pinout, UART7, Dimensions and STEP | Read |
| 23–26 | Cascaded Control, PID, Yaw and Filters | Read |
| 27–29 | Flight Modes, Parameters and AutoTune | Read |
| 30–34 | Tailsitter Setup, Transitions, SITL and Logs | Read |
Protocol v1.1¶
All Source Pages and Text · PDF
| PDF Pages | Source Section / Content | Topic Page |
|---|---|---|
| 1–3 | Cover, Contents and Revisions | Read |
| 4 | 1. Basics; 2. Output Overview | Read |
| 5–7 | 2.1 / 2.1.1 RAW and status; 2.2 FUSED | Read |
| 8–10 | 2.3 BARO, 2.4 AHRS, 2.5 Bandwidth | Read |
| 11–13 | 3.1 / 3.1.1 STAT and Diagnosis, 3.2 FUS, 3.3 SYS | Read |
| 14–16 | 3.4 HB; 4. Boot, Init, NVM, Calibration and Fault Messages | Read |
| 17–19 | 5. Commands, ACK / NAK, Persistence and Interface Reports | Read |
| 20 | 5.1 Calibration / Allan / Lever Arm; 6. Output Sequence | Read |
| 21 | 7. Python Parsing; 8.1 Binary Frame | Read |
| 22–25 | 8.2 All Binary Field Offsets; 8.3 Bandwidth | Read |
| 26 | 8.4 Baud Errors; 8.5 Tools; 9. Updates; 10. PPS | Read |
| 27–28 | 10. PPS; 11. UART2; 12. EXT_TRIGGER | Read |
| 29–31 | 13.1–13.4 SPI Packets, Polling, Validation and Statistics | Read |
| 32–33 | 14. ArduPilot Driver, hwdef, SNV6 and Bootloader | Read |
Direct links: 3.4 HB · Output sequence and Python · Firmware update · GPS PPS.
User Manual v1.1¶
All Source Pages and Text · PDF
| PDF Pages | Source Section / Content | Topic Page |
|---|---|---|
| 1–4 | Cover, Contents and Revisions | Read |
| 5–7 | 1. Overview, Specifications and Output Types | Read |
| 8–12 | 2. J1, Electrical Rules and Carrier Drawings | Read |
| 13–14 | 3. FRD and Mounting; 4. Quick Start | Read |
| 15–17 | 5.1–5.5 GUI Connection, Dashboard, Parameters, Terminal and Files | Read |
| 18–19 | 6.2–6.3 RAW / FUSED; 6.4 Other Data | Read |
| 20–21 | 6.4–6.5 Statistics, AHRS, PPS and status | Read |
| 22–25 | 6.6 Commands, Defaults and CFG; 7.1 Frame Format | Read |
| 26–28 | 7.2–7.4 Binary Types, Layout and Bandwidth; 8.1 UART2 | Read |
| 29–31 | 8.2 GPS PPS, Timing and States; 8.3 Trigger | Read |
| 32–35 | 8.4 SPI Packets, ArduPilot and EKF3; 9. MCLR | Read |
| 36–37 | 9. MCLR Circuit / Reset; 10. Update / Recovery | Read |
| 38–40 | 10. Update Errors; 11. Troubleshooting and Support | Read |
Cross-links: Quick start · ASCII rules and commands · Data output · PPS / UART2 / trigger · MCLR and updates.
Document Differences and Treatment¶
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HB default: protocol §3.4 says once per second by default; the manual lists HB=0. The discrepancy is retained and explicit HB,0/HB,1 configuration explained. The PDF does not list fixed diagnostic keys; read the key=value pairs received from the device.
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Connector names: protocol §12/§13 uses J2/J3, while the module connector is J1 in the manual. Topic pages follow the J1 drawing: trigger 15, SPI 6/8/10/12, separately from carrier J3/J4.
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Trigger dt: the manual describes trigger-to-trigger duration; protocol §12 clarifies raw-sample boundaries, with a difference smaller than one sample (about 0.68 ms). Topic pages use the more detailed definition.
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All three IMUs faulty: the manual summarizes rejection; protocol §3.1.1 adds fallback to all three. Topic pages include that exception and RAW-status checks.
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Checksums: *XX is a format placeholder. Numeric RAW/BARO examples on the output page use recalculated single-line XOR; original PDFs remain unchanged.
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AutoTune / FlowHold / Tailsitter: topic pages retain official-documentation clarifications: save accepted AutoTune gains by landing and disarming while enabled; FlowHold does not require a rangefinder; Q_TAILSIT_ENABLE=2 ignores Q_TAILSIT_MOTMX.
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Flight-controller examples: PID increments, filter cutoffs and EKF 0.5/0.8 remain labeled source references, not universal requirements. RTK Float is not equivalent to fixed-solution centimetric accuracy.
Official References Checked: AutoTune · FlowHold · Tailsitter
Included Reference Material¶
Complete boot/event formats, CFG readback, DBG command, seven PPS fields, GUI controls, calibration parameters, HUD symbols, PID/filter reference tables, mode parameter index, tailsitter notes, and all 107 source pages with text and navigation.