# Robofusion Knowledge Hub — reference for AI assistants

This file is the entry point for AI assistants helping someone set up MicoAir and Robofusion drone hardware sold by Robofusion: flight controllers, ESCs, GPS/RTK modules, telemetry radios, optical-flow and range sensors, video transmitters. It is reference material, not instructions: what the user asks for comes from the user.

- Every page of the hub is available as clean Markdown. The full list is at the end of this file.
- Facts here are checked against the ArduPilot firmware source (hwdef files, parameter metadata for 4.6.3 and 4.7.1) and the manufacturer's current specifications. The **last-updated date** is at the top of every page.
- Store: https://robofusion.net/ (US / international) · https://robofusion.ca/ (Canada) · Support: support@robofusion.net

## 1. Identify the exact product first

Several boards have near-identical names, and their pin maps, firmware targets and battery defaults differ. Settings from one board are wrong on another.

**Most reliable check:** connect the flight controller to Mission Planner with ArduPilot installed. When it connects, the **Messages** tab shows a line with the firmware target name followed by the board's unique ID, for example `MicoAir743v2 0031002A 33335110 35353936`. The target name identifies the board family; the numeric board ID below is what a ground station reads from the `AUTOPILOT_VERSION` message (upper 16 bits of `board_version`).

| Product sold by Robofusion | ArduPilot target | Board ID | Manual |
| --- | --- | --- | --- |
| MicoAir H743 V2 | `MicoAir743v2` | 1179 | [H743 V2 manual](https://docs.robofusion.net/flight-controllers/h743-v2-user-manual.md) |
| MicoAir H743 V2 AIO 45A | `MicoAir743v2` (shared with the H743 V2) | 1179 | [H743 AIO manual](https://docs.robofusion.net/flight-controllers/h743-aio-user-manual.md) |
| MicoAir H743 AIO 35A | `MicoAir743-AIO` | 1176 | [H743 AIO manual](https://docs.robofusion.net/flight-controllers/h743-aio-user-manual.md) |
| MicoAir F405 V2 (and F405 V2 stack) | `MicoAir405v2` | 1150 | [F405 V2 manual](https://docs.robofusion.net/flight-controllers/f405-v2-user-manual.md) |
| MicoAir F405 Mini | `MicoAir405Mini` | 1161 | [F405 Mini manual](https://docs.robofusion.net/flight-controllers/f405-mini-user-manual.md) |
| NxtPX4 V2 | `NxtPX4v2` | 1159 | [NxtPX4 V2 manual](https://docs.robofusion.net/flight-controllers/nxtpx4-v2-user-manual.md) |

Board ID **1179 is shared** by the H743 V2 and the H743 V2 AIO 45A — firmware cannot tell them apart. Ask the user which board they have (the AIO has the ESC on the same 25.5 × 25.5 mm board; the H743 V2 is a 30.5 × 30.5 mm flight controller with a separate ESC).

**Not covered by this hub** — do not apply H743 V2 values to these: `MicoAir743` (the original H743, board ID 1166), `MicoAir743-Lite` (1202; only the [Bluetooth tuning guide](https://docs.robofusion.net/flight-controllers/h743-bluetooth-tuning.md) applies), `MicoAir743v3` (1299), the original `MICOAIR405` (1139), and other brands' H743/F405 boards. If the board is not in the table above, say so rather than guessing.

### Battery monitoring on ArduPilot

The firmware default for `BATT_AMP_PERVLT` is a placeholder on every board except the H743 AIO 35A. The correct value depends on the current sensor actually fitted — use the second table.

**Firmware defaults (from the hwdef):**

| Target | `BATT_VOLT_MULT` default | `BATT_AMP_PERVLT` default |
| --- | --- | --- |
| `MicoAir743v2` (H743 V2 and H743 V2 AIO 45A) | 21.12 | 40.2 |
| `MicoAir743-AIO` (H743 AIO 35A) | 21.12 | 14.14 |
| `MicoAir405v2`, `MicoAir405Mini` | 21.2 | 40.2 |
| `NxtPX4v2` | 10.2 | 20.4 |

**Correct `BATT_AMP_PERVLT` starting value, by the ESC or board that carries the current sensor:**

| Current sensor on | Sensor scale | Set `BATT_AMP_PERVLT` to |
| --- | --- | --- |
| MicoAir 50A Bluejay 4-in-1 ESC (F405 V2 stack) | 12.75 mV/A | 78.4 |
| MicoAir 55A AM32 4-in-1 ESC (H743 V2 stack) | 12.75 mV/A | 78.4 |
| MicoAir 70A AM32 4-in-1 ESC (H743 V2 stack) | 10.2 mV/A | 98.0 |
| H743 AIO 35A (built-in ESC) | — | 14.14 (already the default) |
| H743 V2 AIO 45A (built-in ESC) | — | **14.14 — must be set by hand; the default 40.2 reads about 3× too high** |
| Any other ESC | from its datasheet | 1000 ÷ (sensor mV/A) |

These are starting values. Confirm by comparing the mAh the flight controller reports after a flight with the mAh a charger puts back in, and scale `BATT_AMP_PERVLT` by the ratio.

## 2. Identify the firmware and its version

Parameter names differ between firmwares (ArduPilot, PX4, INAV, Betaflight) and between versions. Ask for the firmware and version if the user has not given them.

**ArduPilot 4.7 (released July 2026) renamed or re-scaled many parameters.** Upgrading a board converts stored values automatically; the risk is typing values from a 4.6-era guide (or from model training data) into 4.7.

| 4.6 and earlier | 4.7 and later | Change |
| --- | --- | --- |
| `ARMING_CHECK` | `ARMING_SKIPCHK` | **Meaning inverted**: old bits = checks to run, new bits = checks to skip (default 0 = skip nothing) |
| `SYSID_THISMAV` | `MAV_SYSID` | rename |
| `RNGFNDx_MIN_CM`, `RNGFNDx_MAX_CM` (cm) | `RNGFNDx_MIN`, `RNGFNDx_MAX` (m) | **units cm → m**: 800 cm becomes 8 |
| `RTL_ALT` (cm) | `RTL_ALT_M` (m) | **units cm → m** |
| `WPNAV_SPEED`, `WPNAV_SPEED_UP`, `WPNAV_SPEED_DN` (cm/s) | `WP_SPD`, `WP_SPD_UP`, `WP_SPD_DN` (m/s) | **units cm/s → m/s** |
| `SRn_*` stream rates | `MAVn_*` | channel numbering starts at 1: `SR0_` → `MAV1_` |
| `SERIALn_OPTIONS` bit 10 (don't forward MAVLink) | `MAVn_OPTIONS` bit 1 (value 2) | moved; `MAVn` counts MAVLink ports in order, USB (SERIAL0) = `MAV1` |
| `SERIALn_OPTIONS` bit 12 (ignore stream-rate override) | `MAVn_OPTIONS` bit 2 | moved |

Full official list: https://ardupilot.org/copter/docs/common-param-name-changes.html. ArduPilot 4.6 had earlier renames of GPS parameters (`GPS_TYPE` → `GPS1_TYPE`, `GPS_MB1_*` → `GPS1_MB_*`, `GPS_POS1_*` → `GPS1_POS_*`), covered in the [MA-RTK manual](https://docs.robofusion.net/gps/ma-rtk-series-user-manual.md).

If a value on these pages is given for one version only and the user runs another, say so; do not convert silently.

## 3. Recommended workflow (a person does the physical work)

A web or phone AI assistant cannot connect to a flight controller. The user does every physical action and applies settings in a ground station (Mission Planner, QGroundControl, MicoConfigurator, INAV Configurator). A workflow that works well:

1. Confirm product (section 1), firmware and version (section 2), and what the user wants to achieve.
2. Read the product's manual page and the relevant guide from the index below before answering.
3. Give **one physical step at a time** and wait for the user to confirm it is done before continuing — wiring, plugging USB or a battery, holding BOOT, moving a switch.
4. Present parameter changes as a table the user applies themselves:

   | Parameter | Current value | New value | Reboot needed | Why |
   | --- | --- | --- | --- | --- |

5. After the user writes the parameters and reboots, ask them to read the values back and report what the ground station shows, then verify the result (sensor reading, LED state, HUD value) before moving on.
6. If the docs do not cover the combination the user has, say that clearly and point to the closest page, instead of inventing values.

## 4. Safety rules that apply to every procedure

- **Propellers off** for all wiring, configuration, motor tests, ESC calibration and the first power-up. Confirm this with the user before any step that can spin a motor.
- **One change at a time**, with a way back: save the current parameters to a file before changing anything.
- **Never suggest disabling arming checks or failsafes** (`ARMING_SKIPCHK` on 4.7 and later, `ARMING_CHECK` on 4.6 and earlier; `FS_*`, `BATT_FS_*`, `RC_FS_TIMEOUT`, `FENCE_*`) as a fix. A failing pre-arm check names the problem; fix that problem.
- Treat these as safety-critical and double-check them against the manual: motor outputs and order (`SERVOn_FUNCTION`, `MOT_*`), frame class/type, board and compass orientation, battery monitor scaling, failsafe actions.
- Do not provide PID or filter numbers for tuning; point to AutoTune and the firmware's own tuning guide.
- Voltage matters: several connectors carry 9 V or 12 V (the HD video connector on the H743 V2 and AIO boards is 12 V on pin 1; on the F405 V2 it is 9 V). Never tell a user to connect a 5 V device there.
- First flights of a new configuration: open area, low altitude, a mode the user can recover from manually.

## 5. Page index

### Start here

- [Robofusion Knowledge Hub](https://docs.robofusion.net/index.md): Clear English documentation, setup guides and field tests for open-source drones, robotics telemetry, LoRa serial links and selected Meshtastic-adjacent hardware.

### Flight Controllers

- [MicoAir H743 V2 Flight Controller — User Manual](https://docs.robofusion.net/flight-controllers/h743-v2-user-manual.md): English manual for the MicoAir H743 V2 (MicoAir743v2) flight controller — STM32H743, dual IMU, UART map, DShot groups, Bluetooth and firmware flashing.
- [Bluetooth Wireless Tuning — Connect an H743 V2 from a PC](https://docs.robofusion.net/flight-controllers/h743-bluetooth-tuning.md): Connect a MicoAir H743 V2 or H743-Lite to a Windows PC over Bluetooth and tune it wirelessly in Mission Planner, QGroundControl or INAV Configurator.
- [MicoAir F405 V2 Flight Controller — User Manual](https://docs.robofusion.net/flight-controllers/f405-v2-user-manual.md): English manual for the MicoAir F405 V2 (MicoAir405v2) flight controller — STM32F405, Bosch BMI088 IMU, pinout, UART map, DShot groups and ArduPilot/INAV setup.
- [MicoAir F405 V2 — Beginner ArduPilot Setup Guide](https://docs.robofusion.net/flight-controllers/f405-v2-ardupilot-setup.md): First-time ArduPilot setup for the MicoAir F405 V2 — frame type, DShot, motor order, receiver, initial tune, calibration, flight modes and first arming.
- [NxtPX4 V2 Mini Flight Controller — User Manual](https://docs.robofusion.net/flight-controllers/nxtpx4-v2-user-manual.md): English manual for the NxtPX4 V2 (NxtPX4v2) 20×20 mini flight controller — STM32H743, dual BMI088, open hardware, pinout, UART map, PX4 and ArduPilot setup.
- [MicoAir H743 AIO User Manual — 743-AIO-35A & 743v2-AIO-45A](https://docs.robofusion.net/flight-controllers/h743-aio-user-manual.md): H743 flight controller and AM32 4-in-1 ESC on one 25.5 × 25.5 mm board — specs, UART map, firmware targets, battery scaling and setup for ArduPilot and PX4.
- [MicoAir F405 Mini Flight Controller — User Manual](https://docs.robofusion.net/flight-controllers/f405-mini-user-manual.md): English manual for the MicoAir F405 Mini (MicoAir405Mini) 20×20 mm flight controller — STM32F405, BMI270, pinout, UART map, DShot groups and ArduPilot setup.

### Telemetry Radios

- [MicoAir LR900 915 MHz Telemetry Radio — User Manual](https://docs.robofusion.net/telemetry-radios/lr900-user-manual.md): English manual for the MicoAir LR900 915 MHz LoRa telemetry radio — LR900-A/F/P specs, GH1.25 pinout, LED codes, FHSS setup and every configurable parameter.
- [Configure the LR900 915 MHz Radio with MicoAssistant (Web Configurator)](https://docs.robofusion.net/telemetry-radios/lr900-web-configurator.md): Configure a MicoAir LR900 telemetry radio in the MicoAssistant browser tool — every parameter explained, with ready-made settings for ArduPilot, PX4 and RTK.
- [ArduPilot — Telemetry Radio Setup Guide](https://docs.robofusion.net/telemetry-radios/ardupilot-telemetry-setup.md): Wire, configure and connect a MicoAir LR900 / LR24 telemetry radio to an ArduPilot flight controller in Mission Planner, with troubleshooting.
- [PX4 — Telemetry Radio Setup Guide](https://docs.robofusion.net/telemetry-radios/px4-telemetry-setup.md): Configure and connect a MicoAir LR900 / LR24 telemetry radio to a PX4 flight controller in QGroundControl, including automatic and manual connection.
- [CP2102 Driver Installation Guide (Windows)](https://docs.robofusion.net/telemetry-radios/cp2102-driver-windows.md): Install the Silicon Labs CP2102 USB-to-UART driver on Windows so a MicoAir telemetry radio appears as a COM port — step by step, with fixes when it does not.
- [MicoAir WiFi Link — Dual-Band WiFi 6 Telemetry Module User Manual](https://docs.robofusion.net/telemetry-radios/wifi-link-user-manual.md): English manual for the MicoAir WiFi Link dual-band WiFi 6 telemetry module — specs, wiring, AP/STA modes, BLE, full AT command reference and GCS setup.
- [MicoAir WiFi Link — Multi-Drone Networking Tutorial (STA Mode)](https://docs.robofusion.net/telemetry-radios/wifi-link-multi-drone-networking.md): Put several ArduPilot or PX4 drones on one ground station with MicoAir WiFi Link modules in STA mode — AT setup, system IDs and a worked three-drone example.
- [LR24 2.4 GHz Telemetry Radio — User Manual (LR24-F / LR24-P / LR24-F-Mini)](https://docs.robofusion.net/telemetry-radios/lr24-user-manual.md): English manual for the MicoAir LR24 2.4 GHz LoRa telemetry radios — LR24-F/P/F-Mini differences, specs, pinouts, pairing and every configurable parameter.
- [MicoAir TRS — 2.4 GHz RC + Telemetry Combo User Manual](https://docs.robofusion.net/telemetry-radios/trs-user-manual.md): English manual for the MicoAir TRS 2.4 GHz RC + telemetry combo — 150 Hz control and 8 KB/s MAVLink on one link. Specs, binding, modes, RSSI, Bluetooth GCS.
- [MSTAR24 One-to-Many Telemetry — Setup for Multi-Drone Fleets](https://docs.robofusion.net/telemetry-radios/mstar24-one-to-many-telemetry.md): Configure an MSTAR24 one-to-many telemetry system — ground and air unit parameters, slave numbering, bandwidth sharing and multi-vehicle ground stations.

### Video Transmitters (FPV)

- [VT5804 5.8 GHz 2.5W Video Transmitter Module — User Manual](https://docs.robofusion.net/video-transmitters/vt5804-user-manual.md): English manual for the Robofusion VT5804 5.8 GHz 2.5 W analog FPV video transmitter — specs, 48-channel table, wiring, LED codes and TBS SmartAudio setup.
- [VT5805 5.8 GHz 4W Video Transmitter Module — User Manual](https://docs.robofusion.net/video-transmitters/vt5805-user-manual.md): English manual for the Robofusion VT5805 5.8 GHz 4 W analog FPV video transmitter — specs, 48-channel table, wiring, fan cooling, LEDs and TBS SmartAudio setup.
- [A5800 5.8 GHz FPV Antenna — Full Lab Test Report & Guide (3 dBi Omni Dipole, SMA)](https://docs.robofusion.net/video-transmitters/a5800-fpv-antenna.md): Lab test report for the Robofusion A5800 5.8 GHz FPV antenna — measured VSWR, gain and efficiency, full radiation patterns, plus antenna basics for FPV pilots.

### GPS & RTK

- [MicoAir GPS Module User Manual — M10G-5883, MG-903, MG-A01, MG-902](https://docs.robofusion.net/gps/gps-module-user-manual.md): Specs, wiring and compass orientation parameters for the MicoAir M10G-5883, MG-903, MG-A01 and MG-902 GPS modules on ArduPilot, PX4, INAV and Betaflight.
- [MG-F10-C Dual-Band (L1+L5) GNSS Module — User Manual](https://docs.robofusion.net/gps/mg-f10-c-user-manual.md): English manual for the MicoAir MG-F10-C dual-band GNSS module — u-blox NEO-F10N, L1+L5, IST8310 compass, sub-metre accuracy, wiring and ArduPilot/PX4 setup.
- [What Is RTK GPS? Centimeter-Level Drone Positioning Explained in Plain English](https://docs.robofusion.net/gps/what-is-rtk.md): RTK GPS explained in plain English — how base and rover reach 1–2 cm instead of metres, what RTCM, FIX and FLOAT mean, and when a drone actually needs RTK.
- [MicoAir MA-RTK Series User Manual — 982 / 626 / F9P Rovers & Base Station](https://docs.robofusion.net/gps/ma-rtk-series-user-manual.md): Specs, pinouts and ArduPilot/PX4 parameters for the MicoAir MA-RTK GNSS family — MA-RTK-AIR-982, 626 and F9P rovers plus the MA-RTK-BASE station.
- [RTK Setup Guide — Base Station, RTCM Corrections & Dual-Antenna Heading](https://docs.robofusion.net/gps/rtk-setup-guide.md): Set up MicoAir MA-RTK on ArduPilot or PX4: deploy the base, relay or broadcast RTCM, reach RTK FIXED, and configure dual-antenna GNSS heading.

### Optical Flow & Range Sensors

- [MTF-01 Optical Flow & LiDAR Sensor — User Manual](https://docs.robofusion.net/sensors/mtf-01-user-manual.md): English manual for the MicoAir MTF-01 optical flow and LiDAR sensor — 8 m range, specs, pinout, mounting and ArduPilot / PX4 / INAV indoor position hold setup.
- [MTF-01P Optical Flow & LiDAR Sensor — User Manual](https://docs.robofusion.net/sensors/mtf-01p-user-manual.md): English manual for the MicoAir MTF-01P optical flow and laser sensor — 12 m range, specs, pinout, mounting and ArduPilot / PX4 / INAV position-hold setup.
- [MTF-02 & MTF-02P Micro Optical Flow & Range Sensors — User Manual](https://docs.robofusion.net/sensors/mtf-02-02p-user-manual.md): English manual for the MicoAir MTF-02 and MTF-02P micro optical flow sensors — 1–1.5 g, specs, pinout, protocol solder pads and ArduPilot / PX4 / INAV setup.
- [Optical Flow Setup Guide — ArduPilot / PX4 / INAV (MTF-01 / 01P / 02 / 02P)](https://docs.robofusion.net/sensors/optical-flow-setup-guide.md): Configure MicoAir MTF optical flow sensors on ArduPilot, PX4 and INAV — serial and EKF parameters for GPS-free position hold, verification and troubleshooting.
- [MT-01P 10m Laser Rangefinder — User Manual](https://docs.robofusion.net/sensors/mt-01p-user-manual.md): English manual for the MicoAir MT-01P 10 m laser rangefinder — UART and I2C output, specifications, pinout, and ArduPilot / PX4 configuration for altitude hold.
- [MicoAir MT-06 Laser Rangefinder — User Manual](https://docs.robofusion.net/sensors/mt-06-user-manual.md): English manual for the MicoAir MT-06 6 m laser rangefinder — 0.8 g, sunlight-capable, UART and I2C output, ArduPilot and PX4 setup, multi-sensor obstacle avoidance.

### ESCs

- [MicoAir 4-in-1 Bluejay ESC User Manual — 30A, 33A, 50A, 60A](https://docs.robofusion.net/esc/bluejay-4in1-esc-user-manual.md): Specs, pinout, wiring and setup for the MicoAir 4-in-1 Bluejay ESCs — 48 kHz PWM, DShot300/600, bidirectional DShot and the current-sensor scaling to use.
- [MicoAir 4-in-1 AM32 ESC User Manual — 55A & 70A](https://docs.robofusion.net/esc/am32-4in1-esc-user-manual.md): Specs, pinout and setup for the MicoAir 55A and 70A 4-in-1 AM32 ESCs — 48 kHz PWM, DShot300/600, current-sensor scaling and the motor KV setting that matters.
- [How to Configure Open-Source ESC Parameters — Bluejay, BLHeli_S & AM32](https://docs.robofusion.net/esc/configure-esc-parameters.md): Connect to a 4-in-1 ESC from a browser and change motor direction, timing and KV, or flash new ESC firmware — on ArduPilot, Betaflight and INAV builds.
- [ESC Firmware Explained — AM32 vs Bluejay vs BLHeli_S and _32](https://docs.robofusion.net/esc/esc-firmware-explained.md): What ESC firmware does and how the four families differ — AM32, Bluejay, BLHeli_S and BLHeli_32, which your ESC can run, and which to choose.

### Servos

- [SERVOMY SDS1901 Micro Servo — User Manual](https://docs.robofusion.net/servos/sds1901-user-manual.md): Specs, wiring and PWM signal reference for the SERVOMY SDS1901 HV digital coreless micro servo — 9 g form factor, metal gears, 5.0–8.4 V, up to 9.2 kgf·cm.

### Developer Reference

- [Micolink Protocol — Frame Format and a Reference Parser](https://docs.robofusion.net/developer/micolink-protocol.md): The Micolink serial protocol used by MicoAir optical flow and range sensors — frame layout, the 0x51 payload, checksum rule and working C and Python parsers.
- [PX4 MAVLink Stream Rates — Raising the IMU Data Frequency](https://docs.robofusion.net/developer/px4-mavlink-stream-rates.md): Three ways to change PX4 MAVLink stream rates for MAVROS topics — a live console command, an SD card startup script, and a firmware default.
- [Flight Controller ID — Finding a Board's Unique Device ID](https://docs.robofusion.net/developer/flight-controller-id.md): Where to read a flight controller's unique hardware ID in ArduPilot, PX4, INAV and Betaflight, and why the same board looks different in each.
- [UBX Protocol — Parsing NAV-PVT from a u-blox GPS](https://docs.robofusion.net/developer/ubx-protocol-parsing.md): Read a u-blox GPS directly — the UBX frame format, the NAV-PVT message field by field with its scaling, configuration messages and working parsers.

### Guides & Tutorials

- [Set Up Your Drone Hardware with an AI Assistant](https://docs.robofusion.net/ai.md): Let ChatGPT, Claude or Gemini guide your flight controller, GPS and telemetry setup from our verified docs — one prompt to copy, with you doing the physical steps.
- [Flight Controller Firmware Flashing Guide — ArduPilot, PX4, INAV, Betaflight](https://docs.robofusion.net/guides/firmware-flashing-guide.md): How to flash ArduPilot, PX4, INAV or Betaflight onto an STM32 flight controller — DFU mode, bootloaders, the .hex / .apj / .px4 file formats, and recovery.
- [ArduPilot Basic Configuration — Setting Up a New Multirotor](https://docs.robofusion.net/guides/ardupilot-basic-configuration.md): What a new ArduPilot multirotor has to be told before it can fly — frame type, ESC protocol, motor order, calibration, flight modes and arming checks.
- [PX4 Build & Configuration Walkthrough — Wiring to First Flight](https://docs.robofusion.net/guides/px4-build-and-configuration.md): Build and configure a PX4 multirotor end to end — ESC protocol, receiver, GPS and compass, orientation, calibration, telemetry, RSSI and battery setup.
- [ArduPilot FAQ — Common Problems and How to Fix Them](https://docs.robofusion.net/guides/ardupilot-faq.md): Answers to the questions ArduPilot builders actually ask — pre-arm failures decoded, motors not spinning, DJI OSD, bidirectional DShot and passthrough.
- [PX4 FAQ — ELRS Receivers, Ports and Other Common Problems](https://docs.robofusion.net/guides/px4-faq.md): Answers to the questions PX4 builders actually ask — ELRS and CRSF wiring, receivers that are never detected, missing baud parameters and battery readings.
- [INAV FAQ — Motor Order, Protocols and Configuration Backups](https://docs.robofusion.net/guides/inav-faq.md): Answers to the questions INAV builders actually ask — reordering motors, ESC protocols, receiver setup, board alignment in deci-degrees and CLI backups.
- [MicoAssistant Guide — Configure Radios and Sensors in a Browser](https://docs.robofusion.net/guides/micoassistant-guide.md): Use the MicoAssistant web tool to configure MicoAir telemetry radios, optical flow and range sensors — drivers, wiring, baud rates and troubleshooting.
- [AIO or a Stack? Choosing a Flight Controller Layout](https://docs.robofusion.net/guides/aio-vs-fc-esc-stack.md): What an all-in-one board gives up against a flight controller and ESC stack — size, compass, OSD, BEC current, heat and repair cost, with a decision guide.
- [External Compass Orientation — ArduPilot, PX4, INAV & Betaflight](https://docs.robofusion.net/guides/external-compass-orientation.md): Set the right compass orientation for a GPS or RTK module on ArduPilot, PX4, INAV and Betaflight — parameter names, value tables and how to check the heading.
- [Drone GPS & Compass Guide — Mounting, Wiring, Setup and Calibration](https://docs.robofusion.net/guides/drone-gps-and-compass-guide.md): Fit a GPS and compass module to a drone and set it up on ArduPilot, PX4, INAV or Betaflight — mounting, wiring, parameters, calibration and pre-flight checks.
- [u-blox GPS Baud Rate Configuration with u-center](https://docs.robofusion.net/guides/ublox-gps-baud-rate.md): Change and permanently save a u-blox GPS module's baud rate in u-center — the fix for a GPS that worked on ArduPilot but is not detected by Betaflight.
- [Flight Controller Board Orientation — ArduPilot, PX4, INAV & Betaflight](https://docs.robofusion.net/guides/flight-controller-orientation.md): Tell the firmware how the flight controller is mounted — AHRS_ORIENTATION, PX4 Autopilot Orientation, INAV Alignment Tool and Betaflight board alignment.

### Original Projects

- [Robofusion Original Projects](https://docs.robofusion.net/projects/index.md): Open-source aircraft designs, build guides and field experiments from Robofusion — free 3D-printable designs with firmware walkthroughs and parts lists.
- [Grasshopper5 — Open-Source 5-Inch Long-Range FPV Frame (Free 3D-Printable, ArduPilot / INAV / Betaflight)](https://docs.robofusion.net/projects/grasshopper5-fpv-frame.md): Grasshopper5 — a free open-source 3D-printable 5-inch FPV frame with an adjustable tilted rotor plane. Build guide, parts list and firmware tilt configuration.
- [Free 3D-Printable Cases & Mounts for MicoAir Sensors (MTF-01 / MTF-02 / MTF-02P / WiFi Link)](https://docs.robofusion.net/projects/sensor-cases-and-mounts.md): Free 3D-printable cases and mounts for MicoAir sensors — MTF-01, MTF-02, MTF-02P and the WiFi Link module, with STL downloads and print notes.

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Maintained by the Robofusion engineering team · https://docs.robofusion.net