3. Tether the quadcopter down so it cannot hit the ceiling or valuable people.
4. Turn on the Zybo Board using the switch.
1. The "PGOOD" Light should turn red.
2. After the program has been completely loaded, the green DONE LED should turn on.
3.*NOTE: The I<sup>2</sup>C devices do not get turned off when the Zybo switch is turned off, so to reboot, it is necessary to completely disconnect the battery, in addition to turning off the Zybo board switch.*
3.**NOTE: The I<sup>2</sup>C devices do not get turned off when the Zybo switch is turned off, so to reboot, it is necessary to completely disconnect the battery, in addition to turning off the Zybo board switch.**
4. Ensure the quad and transmitter have connected successfully.
5. Ensure the quad and transmitter have connected successfully.
* The RC transmitter should have GAUI 330X selected and displayed on the screen. With the quad and transmitter on, the unit on the quad labeled Spektrum AR610 should have a blinking orange light or solid orange light (We don't know the difference, but the both seem to work?). If this is not blinking or solid, try restarting the quad and transmitter with the transmitter closer to the quad.
5. Plug connect the motors to the main power line.
6. Plug connect the motors to the main power line.
## Start the Ground Station (CLI)
Execute the following on the ground station from the root of the ground station folder.
## Connect to Quad WiFi
The quadcopter creates its own access point, called "MicroCART", with password "m1cr0cart". Be sure to be connected to this before trying to connect to the quadcopter.
## Start the Ground Station (GUI)
Execute the following on the ground station from the root of the `groundStation` folder.
In one terminal, run the backend:
```bash
./GroundStation
```
## Start the Quad
Then hit "Start"
At the top of the log window, you should see:
```Connectiong to Quad @ 192.168.1.1:8080
connection successful!```
To verify that the quadcopter software is running and responding to packets, go to the "Controller Graph" tab and hit "Refresh Controller Graph". The current graph will show up.
## Flight
1. Using the transmitter, flip the "Gear" switch to 1.
1. You should see the green LED4 MIO7 turn on.
1. You should see the green LED4 MIO7 turn on. If the light does not turn on, then check these these things:
* The Throttle is low
* The flap is set to 1
* The proper start-up sequence was not followed. Power down everything and unplug the battery, and start booting over.
2. Continue following steps in either the Manual Mode or Autonomous Mode
### Autonomous Mode
1. Find somebody else to be running the transmitter, so they can take control in case bad things happen:
* Scenario 1: Quad is being silly, and it needs to take a time out. Switch Flap back to 1, and fly/land it in manual mode.
* Scenario 2: Quad is actively attacking itself or others. Cut off all motors by turning the Gear switch to 0.
2. Turn the Flap switch to 0 to turn the quadcopter into autonomous mode.
3. From the upper-left corner, click "Scripts", and from the drop-down menu, run the `take_off.sh` script.
4. Waypoints can be set from the "Navigation" tab, waypoint files can be loaded, etc. See the Ground Station GUI README to find out more.
5. Land the quadcopter by running the`touch_down.sh` script from the Scripts drop-down.
### Manual Mode
2. Start flying the quad. Below is a summary of how the manual controls work.
