The diagram below shows the flight mode state machine and the different main modes the PX4 system can be in. As the graph shows it covers simple manual / FPV assisted flight as well as full autonomous flight and ensures sane transitions between the modes.
A RGB LED is installed in PX4 to indicate state transitions and errors
in different states. Basically, the LED has four colors, red, amber,
green and blue, and four different flashing mode: "on", "fast",
"breathe" and "blink_normal". These colors and flashing modes contribute
to PX4 LED indication. According to PX4 firmware of ArduCopter-3.1.5
release, a table of PX4 LED indication was made in July as presented
below:
| Arming state | RED | AMBER | GREEN | BLUE | |
| RGBLED_MODE _ON | ARMING_STATE _ARMED | NONE | VEHICLE_BATTERY _WARNING_LOW || status_local->failsafe | condition_local _position_valid | condition_local _position_invalid |
| RGBLED_MODE _BLINK_FAST | ARMING_STATE _ARMED_ERROR | ARMING_STATE _ARMED_ERROR | NONE | NONE | NONE |
| RGBLED_MODE _BREATHE | ARMING_STATE _STANDBY | NONE | VEHICLE_BATTERY _WARNING_LOW || status_local->failsafe | condition_local _position_valid | condition_local _position_invalid |
| RGBLED_MODE _BLINK_NORMAL | STANDBY_ERROR and other states | STANDBY_ERROR and other states | NONE | NONE | NONE |
3DR telemetry was used for radio control in this research. Since three UAVs were tested in the same time, to avoid interference from each other, telemetries need to be change their Net IDs, and receivers and transmitters should be matched up to the same channel in pairs. After research, it turns out that APM Planner 2 was a good software to flash 3DR telemetry firmware:
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