Programming PX4 Bootloader

New boards as of 03/05/2024 have the bootloader already installed. You do not need to program the bootloader in that case

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.

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

Some additional debuggers will be available in the future. Currently this is our reference setup

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.