Methodicconfigurator

To be on the safe side we used a Holybro PM02 as a redundant secondary voltage and current monitor.
One other option would be the [CBU 2-8s DroneCAN Battery Monitor and Current Sensor](https://www.cbunmanned.com/store).
For its configuration, we created a [09_batt2.param parameter file](diatone_taycan_mxc/params/09_batt2.param). Download it to your PC, edit it with a text editor and in Mission Planner while connected to the vehicle [select *Compare Params*, review the changes and press *Continue* followed by *Upload Params*](https://ardupilot.org/planner/docs/mission-planner-configuration-and-tuning.html#full-parameter-list).

In our setup, the battery voltage is measured directly at the flight controller `Vbat` pin and the current is measured at the 4-in1 ESC `Curr` pin.
For its configuration, we created a [08_batt1.param parameter file](diatone_taycan_mxc/params/08_batt1.param). Download it to your PC, edit it with a text editor and in Mission Planner while connected to the vehicle [select *Compare Params*, review the changes and press *Continue* followed by *Upload Params*](https://ardupilot.org/planner/docs/mission-planner-configuration-and-tuning.html#full-parameter-list).

In our setup, we used a [Bi-directional Dshot ESC](https://ardupilot.org/copter/docs/common-dshot-escs.html) that cannot be fully configured using Mission Planner's `SETUP >> Mandatory Hardware >> Servo Output` menu.
For its configuration, we created a [07_esc.param parameter file](diatone_taycan_mxc/params/07_esc.param). Download it to your PC, edit it with a text editor and in Mission Planner while connected to the vehicle [select *Compare Params*, review the changes and press *Continue* followed by *Upload Params*](https://ardupilot.org/planner/docs/mission-planner-configuration-and-tuning.html#full-parameter-list).

The step above configured ESC communication pass-thru.
In our vehicle, we use *BLHeli_32 ARM* ESC firmware.
So we use BLHeliSuite32 Version 32.9.0.6 to configure the ESCs.
Flash the Firmware version described in the table above.
Configure the parameters to match the figures below.



The RC transmitter we used has a big color display where telemetry data is displayed, nevertheless, we use telemetry data for real-time flight monitoring with Mission Planner or QGroundControl.
For its configuration, we created a [06_telemetry.param parameter file](diatone_taycan_mxc/params/06_telemetry.param). Download it to your PC, edit it with a text editor and in Mission Planner while connected to the vehicle [select *Compare Params*, review the changes and press *Continue* followed by *Upload Params*](https://ardupilot.org/planner/docs/mission-planner-configuration-and-tuning.html#full-parameter-list).
Once this is operating we no longer need the USB connection to the vehicle.

In our setup, we use EdgeTX firmware on the RC transmitter.
Download and install *EdgeTX Companion* to your PC.
Start it and configure it as depicted below.


After that, use a micro SDcard to update the firmware on the Radiomaster TX16S and copy the **yaapu** scripts to the `/WIDGETS/yaapu` directory on the micro SDcard.
Once the RC transmitter is running EdgeTx you can load the [Taycan MX-C EdgeTX configuration file](TaycanMX-C.etx) into EdgeTX companion and upload it to the radio.
Or simply copy only the settings that you require, EdgeTX companion is very flexible.

In our setup, we used an advanced RC receiver that cannot be fully configured using Mission Planner's `SETUP >> Mandatory Hardware >> Radio Calibration` menu.
For its configuration, we created a [05_remote_controller.param parameter file](diatone_taycan_mxc/params/05_remote_controller.param). Download it to your PC, edit it with a text editor and in Mission Planner while connected to the vehicle [select *Compare Params*, review the changes and press *Continue* followed by *Upload Params*](https://ardupilot.org/planner/docs/mission-planner-configuration-and-tuning.html#full-parameter-list).

Follow [mounting the autopilot](https://ardupilot.org/copter/docs/common-mounting-the-flight-controller.html) documentation to determine the correct value of the [AHRS_ORIENTATION](https://ardupilot.org/copter/docs/parameters.html#ahrs-orientation) parameter.
For its configuration, we created a [04_board_orientation.param parameter file](diatone_taycan_mxc/params/04_board_orientation.param). Download it to your PC, edit it with a text editor and in Mission Planner while connected to the vehicle [select *Compare Params*, review the changes and press *Continue* followed by *Upload Params*](https://ardupilot.org/planner/docs/mission-planner-configuration-and-tuning.html#full-parameter-list).