Add GCS section

Firmament-Autopilot · Jul 24, 2023 · 1161b3b · 1161b3b
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diff --git a/docs/figures/onboard_files.png b/docs/figures/onboard_files.png
diff --git a/docs/figures/qgc.png b/docs/figures/qgc.png
diff --git a/docs/figures/qgc_connect.png b/docs/figures/qgc_connect.png
diff --git a/docs/introduction/configuration/configuration.md b/docs/introduction/configuration/configuration.md
@@ -13,89 +13,10 @@ Each BSP contains a default *sysconfig.toml* under the config directory. To ensu
 - [Pixhawk 4 Configuration](https://github.com/Firmament-Autopilot/FMT-Firmware/blob/master/target/pixhawk/fmu-v5/config/sysconfig.toml)
 - [Pixhawk 2.4.6 Configuration](https://github.com/Firmament-Autopilot/FMT-Firmware/blob/master/target/pixhawk/fmu-v2/config/sysconfig.toml)
 
-For instance, the following is the default *sysconfig.toml* for pixhawk4. Be noticed the target value should match with BSP's target name defined in *bsp.h*. Otherwise the system won't boot because of unmatched target to prevent using of a wrong configuration.
+To upload the configuration file, you have two options:
 
-```
-# FMT System Configuration File
+1. **QGC Onboard Files (QGC 3.5.6 only)**: If you are using QGroundControl (QGC) version 3.5.6, you can utilize the "Onboard Files" feature to upload the configuration file directly to the system. This simplifies the process and allows you to manage the configuration easily through QGC.
 
-# The target should match with BSP's target name
-target = "Pixhawk4 FMUv5"
+   <img src="../../figures/onboard_files.png" width="30%">
 
-# Console Configuration
-[console]
-    [[console.devices]]
-    type = "serial"
-    name = "serial0"
-    baudrate = 57600
-    auto-switch = true
-
-    [[console.devices]]
-    type = "mavlink"
-    name = "mav_console"
-    auto-switch = true
-
-# Mavproxy Device Configuration
-[mavproxy]
-    [[mavproxy.devices]]
-    type = "serial"
-    name = "serial1"
-    baudrate = 57600
-
-    [[mavproxy.devices]]
-    type = "usb"
-    name = "usbd0"
-    auto-switch = true
-
-# Pilot CMD Configuration
-[pilot-cmd]
-    # channel mapping for [yaw, throttle, roll, pitch]
-    stick-channel = [4,3,1,2]
-
-    [pilot-cmd.device]
-    type = "rc"
-    name = "rc"
-    protocol = "sbus"           # sbus or ppm
-    channel-num = 6             # max supported channel: sbus:16, ppm:8
-    sample-time = 0.05          # sample time in second (-1 for inherit)
-    range = [1000,2000]
-
-    [[pilot-cmd.mode]]
-    mode = 5                    # Position mode
-    channel = 5
-    range = [1000,1200]
-
-    [[pilot-cmd.mode]]
-    mode = 4                    # Altitude mode
-    channel = 5
-    range = [1400,1600]
-
-    [[pilot-cmd.mode]]
-    mode = 3                    # Stabilize mode
-    channel = 5
-    range = [1800,2000]
-
-    [[pilot-cmd.command]]
-    type = 1                    # 1:event | 2:status
-    cmd = 1002                  # FMS_Cmd_Disarm
-    channel = 6
-    range = [1800,2000]
-
-# Actuator Configuration
-[actuator]
-    [[actuator.devices]]
-    protocol = "pwm"
-    name = "main_out"
-    freq = 400                  # pwm frequency in Hz
-
-    [[actuator.devices]]
-    protocol = "pwm"
-    name = "aux_out"
-    freq = 400                  # pwm frequency in Hz
-
-    [[actuator.mappings]]
-    from = "control_out"
-    to = "main_out"
-    chan-map = [[1,2,3,4],[1,2,3,4]]
-```
-
-For configuration details, please see the following sections.
+2. **SD Card Reader**: Alternatively, you can use an SD card reader to upload the configuration file to the system. Simply copy the configuration file onto the SD card and insert it into the system. This method works independently of the QGC version and is suitable for systems without access to QGC Onboard Files.
diff --git a/docs/introduction/gcs.md b/docs/introduction/gcs.md
@@ -0,0 +1,18 @@
+## Ground Control Station
+
+FMT fully supports the standard Mavlink protocol, enabling seamless integration with any Ground Control Station (GCS) that supports Mavlink. In theory, this compatibility means that FMT can work with a wide range of GCS software that implements the Mavlink protocol. This flexibility allows users to choose the GCS that best suits their needs and preferences.
+
+QGroundControl (QGC) 3.5.6 is the preferred GCS for FMT usage, which ensures a smooth and efficient experience when operating and configuring FMT-powered vehicles.
+
+It is important to note that FMT does not have a custom-tailored version of QGC. Instead, it utilizes the QGC PX4 version. As a result, you may encounter some errors, such as missing parameters, when using QGC PX4 with FMT. This is normal since QGC PX4 is primarily designed for PX4 and may not be fully optimized for FMT. Despite these errors, FMT can still function correctly, and developers are continuously working to improve the integration between FMT and QGC for a smoother experience.
+
+<img src="../figures/qgc.png" width="60%">
+
+## Connect to GCS
+To establish a connection between the Flight Controller and the GCS, you can either use a USB cable or telemetry.
+
+For standard Pixhawk hardware, the QGC can automatically detect and connect to the Flight Controller, simplifying the setup process.
+
+However, for other hardware configurations like ICF5, you may need to create the communication link manually. This involves configuring the communication parameters, such as baud rates and port, to establish a successful connection between the Flight Controller and the GCS.
+
+<img src="../figures/qgc_connect.png" width="60%">
diff --git a/docs/sidebar.md b/docs/sidebar.md
@@ -6,6 +6,7 @@
 
   - [Download](introduction/download.md)
   - [Build](introduction/build.md)
+  - [Ground Control Station](introduction/gcs.md)
   - [Vehicle/Airframe](introduction/vehicle_type.md)
   - [Configuration](introduction/configuration/configuration.md)
     - [Console Configuration](introduction/configuration/console_config.md)