> For the complete documentation index, see [llms.txt](https://nxp.gitbook.io/vmu-rt1176/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://nxp.gitbook.io/vmu-rt1176/programming-pre-production-vmu-rt117x/programming-px4-bootloader.md).

# Programming PX4 Bootloader

{% hint style="success" %}
New boards as of 03/05/2024 have the bootloader already installed. You do not need to program the bootloader in that case
{% endhint %}

If you will be using PX4 software with the MR-VMU-RT1176 board then you will need to first program the bootloader if not already installed.

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The abbreviated instructions are as follows:

1. Connect the holybro pixhawk debug adapter, with SEGGER debug probe connected, to Pixhawk 6X-RT
2. Power the Pixhawk 6X-RT either via USB or POWERx connector.
3. Launch `JlinkExe` tool from Segger
4. Type `connect`
5. Select `SWD` and target is `MIMXRT1176XXXA_M7`
6. Type `reset` and `halt`
7. Type `loadbin /path/to/firmware/px4_fmu-v6xrt_bootloader.bin 0x30000000` 

If you wish to flash PX4 at this time, it can be done with the additional command:

* Type loadbin /path/to/firmware/px4\_fmu-v6xrt\_default.bin 0x30020000

To complete the process:

* type reset and go

{% hint style="info" %}
Some additional debuggers will be available in the future. Currently this is our reference setup
{% endhint %}

{% hint style="info" %}
The Debug adapter `DCD-LZ` from hovergames does not currently have the correct adapter the cable to plug into the FMURT1176. This will be updated in the future. Technically you could make your own.
{% endhint %}