Merge submodule contents for documentation/master

documentation/LICENSE

@@ -0,0 +1,201 @@
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documentation/README.md

@@ -0,0 +1,87 @@
+# Open Solo Releases For Users #
+
+***NEW: ARDUCOPTER 3.7-DEV TESTING***
+
+[Click here for release notes and instructions](../master/install_solex.md) as of December 8, 2018 for beta testing ArduCopter 3.7-dev on the Solo.  You must already be on Open Solo to do this.  This is a major beta testing project.
+
+## INFORMATION CURRENT FOR STABLE RELEASE OPEN SOLO v3.0.0 ON JANUARY 1, 2018 ##
+
+The team working on safe, reliable releases of Open Solo publishes them here. You can read all the details in the release notes, and link directly to installation instructions. These are the "official" instructions. These instructions supersede any other older instructions, videos, and wikis that came before Open Solo.
+
+### _Release notes and instructions_ ###
+
+- Release notes for each version:
+  - [Current stable release: v3.0.0](https://github.com/OpenSolo/documentation/releases/tag/v3.0.0)
+  - [All releases including old betas](https://github.com/OpenSolo/documentation/releases/)
+
+- For _stock solos and previously installed and working green cubes_, go straight to the Open Solo installation procedures:
+  - [Install using the Solex app on Android](../master/install_solex.md)
+  - [Install using SidePilot app on iOS](../master/initial_sidepilot.md)
+  - [Install using SSH/SFTP on widows or mac](../master/initial_ssh.md)
+  - [Install / recovery with SD card images](../master/install_sdimage.md)
+  
+- For a _brand new Green Cube installation_ please follow these updated instructions!
+  - [New green cube installation procedure](../master/green_cube_install.md)
+
+### _Support, Social Media, and other useful links_ ###
+
+* [Solo Beta Test](https://www.facebook.com/groups/617648671719759/) group on Facebook (primary Open Solo and Green Cube support group!!)
+* [Solo Mod Club](https://www.facebook.com/groups/3DRSOLOModClub/) group on Facebook
+* [Solex Users](https://www.facebook.com/groups/176789056089526/) group on Facebook
+* [Solex App](http://www.solexapp.com/) official website. This app is truely the future of Solo's user interface!
+* [SidePilot Community](https://www.facebook.com/sidepilotapp/) on Facebook
+* [Jester's Drones](http://jestersdrones.org/store/l) for the Green Cube and other cool gear
+* [ProfiCNC](http://www.proficnc.com/3dr-solo-accessories/79-the-cube.html) for the Green Cube and other cool gear
+* [ArduPilot](http://ardupilot.org/) homepage
+* [ArduCopter Full Parameter List](http://ardupilot.org/copter/docs/parameters.html) details all 700 something parameters in ArduCopter.
+* [ArduCopter introduction](http://ardupilot.org/copter/docs/introduction.html): Learn what you're getting yourself into :)
+* [Mission Planner](http://ardupilot.org/planner/docs/common-install-mission-planner.html) ground station app for Windows
+* [Filezilla](https://filezilla-project.org/download.php?type=client) for moving files to/from the companion computer
+* [WinSCP](https://winscp.net/eng/download.php) for moving files to/from the companion computer
+
+## Tech and Contributors ##
+If you're the geeky type that wants to read all the commits to see what has been changed in Open Solo, they can all be found in the Open Solo github repositories.
+
+- **The Build System** compiles all the code from all the repositories into functioning binaries to be loaded onto the Solo and Controller. This was a HUGE lift to make work outside of 3DR's environment. David Buzz (@davidbuzz) was the brains behind the move of _everything_ from 3DR, setup of new repos and servers, build system engineering, and a new AWS based auto-build system. The AWS system can compile from scratch in 1hr, whereas a home PC takes up to 5hrs.
+  - [Meta-3DR](https://github.com/OpenSolo/meta-3dr/commits/master) is all the Yocto bitbake recipes.
+  - [Solo-Builder](https://github.com/OpenSolo/solo-builder/commits/master) is the virtual machine and scripts to carry out the build.
+
+- **The Flight Code** has numerous components that got fixes and new features. Matt Lawrence (@Pedals2Paddles) worked most of these changes.  Other contributors to the code were Tim (@FLYBYME), Morten Enholm (@Spawn32), and Hugh Eaves (@hugheaves),
+  - [Sololink](https://github.com/OpenSolo/sololink/commits/master) is mostly behind the scenes stuff related to booting, networking connections, firmware loading, etc. This compiles into a version for both the Copter and Controller's IMX companion computers.
+  - [Shotmanager](https://github.com/OpenSolo/shotmanager/commits/master) is all the smart shots, button and control handling, camera stuff, and most other user facing operational stuff. This compiles primarily into the Copter's IMX companion computer.
+  - [Artoo](https://github.com/OpenSolo/artoo/commits/master) is the controller's STM32 firmware for the screen, buttons, and sticks.
+  - [Mavlink-Solo](https://github.com/OpenSolo/mavlink-solo/commits/master) is a rather old fork of Mavlink. The flight modes were brought up to current enumerations.
+  - [Sololink-python](https://github.com/OpenSolo/sololink-python/commits/master) is some misc helper python files.
+  - [ArduPilot-solo](https://github.com/OpenSolo/ardupilot-solo/commits/master) is 3DR's fork of ArduCopter used on the stock Solo pixhawk 2.0 cube.
+
+
+
+# For Developers #
+***FOR DEVELOPERS!! Not for general users that just want to put Open Solo releases on their solo!!!***
+
+## [Building Open Solo (everything)](https://github.com/OpenSolo/documentation/blob/master/SOLO-BUILDER.md)
+If you want to build Open Solo, take a look at solo-builder [here](https://github.com/OpenSolo/documentation/blob/master/SOLO-BUILDER.md).  It contains everything you need to build OpenSolo from scratch and update your artoo/solo. If you want to make customisations or build something specific take a look below.
+> Note: solo-builder is producing corrupt artoo stm32 binaries for some users. See the [artoo docs](https://github.com/OpenSolo/documentation/tree/master/artoo) if your artoo becomes "bricked" or doesn't turn on. (this is normally easily recoverable)
+
+## [Artoo (the controller)](https://github.com/OpenSolo/documentation/tree/master/artoo)
+
+[How to build the stm32 firmware](https://github.com/OpenSolo/documentation/blob/master/artoo/build-artoo-firmware.md)
+
+[How to flash the stm32 firmware](https://github.com/OpenSolo/documentation/blob/master/artoo/flash-custom-firmware.md)
+
+[How to unbrick artoo](https://github.com/OpenSolo/documentation/blob/master/artoo/flash-custom-firmware.md#bricked-artoo)
+
+[How to customise start/shutdown image](https://github.com/OpenSolo/documentation/blob/master/artoo/customisation/custom-boot-screen.md)
+
+[How to customise strings/text](https://github.com/OpenSolo/documentation/tree/master/artoo) (coming soon!)
+
+## [Solo](https://github.com/OpenSolo/documentation/tree/master/solo)
+Nothing yet :(
+
+## How to get involved
+This documentation is pretty empty right now.  If you know how Solo or Artoo works (or don't know!) and want to get involved pull requests are welcome on this documentation and all of the sub projects. (artoo, solo-builder etc)  Most of the developers are hanging out on [gitter](https://gitter.im/ArduPilot/OpenSolo) and [Facebook](https://www.facebook.com/groups/3DRSOLOModClub/).
+
+## Special Mentions!
+All of this would not be possible without 3DR.  They very generously open sourced most of their internal code and build tools to make this possible. You can see the official 3DR release statement [here](https://3dr.com/blog/announcing-opensolo/) and the ardupilot team's statement [here](https://discuss.ardupilot.org/t/opensolo-initiative-by-the-ardupilot-team).
+
+Special thanks to Buzz and Peter for making this happen, and everyone else who has contributed to make solo even better.

documentation/SOLO-BUILDER.md

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+# [Solo-Builder](https://github.com/OpenSolo/solo-builder)
+This is the collection of scripts and tools that automatically build all of the firmware and operating system image files for your solo and artoo controller.  If you're not sure where to start, clone [this](https://github.com/OpenSolo/solo-builder) repository onto your computer.  Then follow the official OpenSolo [quick start guide](http://ardupilot.org/dev/docs/solo-opensolo-quickstart.html) on the ardupilot wiki.
+
+An overview of the build process:
+* Clone the repo
+* Install all the prerequisites
+* Bring up the vagrant virtual machine (ubuntu)
+* Run the build (5-10 hrs on an i5)
+* Flash solo's new image
+* Flash artoo's new image
+* Un-brick artoo if the screen doesn't turn on
+
+More about un-bricking artoo can be found in the [artoo documentation](https://github.com/OpenSolo/documentation/tree/master/artoo).

documentation/artoo/README.md

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+# Artoo Documentation
+This folder contains all of the documentation for artoo.  It's fairly empty at the moment but expect more stuff shortly.
+
+#### [How to build the artoo firmware](https://github.com/OpenSolo/documentation/blob/master/artoo/build-artoo-firmware.md)
+#### [How to flash the artoo firmware](https://github.com/OpenSolo/documentation/blob/master/artoo/flash-custom-firmware.md)
+#### [How to recover (soft) bricked artoo](https://github.com/OpenSolo/documentation/blob/master/artoo/flash-custom-firmware.md#bricked-artoo)
+> There *has not* been any reports of a hard bricked unit but it's always possible so be careful!
+#### [How to customise startup/shutdown screen](https://github.com/OpenSolo/documentation/blob/master/artoo/customisation/custom-boot-screen.md)

documentation/artoo/build-artoo-firmware.md

@@ -0,0 +1,36 @@
+# Building artoo's firmware
+This guide gets you up to speed with how to compile and flash your own firmware for artoo's stm32 chip.  This chip does all the hardware interfacing like processing inputs and drives the LCD screen.  This means you can customise graphics, text and even add new features.
+
+## Requirements
+* Currently ubuntu 17.04 is the only supported/tested operating system.
+* At a minimum tup should be installed ([see here](http://gittup.org/tup/))
+
+## Let's Start
+First, clone the repository containing the artoo firmware:
+```
+git clone https://github.com/OpenSolo/artoo.git
+```
+Navigate into the directory:
+```
+cd artoo
+```
+Start the build process:
+```
+sudo tup
+```
+A successfull build should end with something like this:
+```
+ 67) [0.015s] arm-none-eabi-objcopy -O binary artoo.elf artoo.bin              
+ 68) [0.019s] arm-none-eabi-objcopy -O ihex artoo.elf artoo.hex                
+ [                   ETA=<1s Remaining=0  Active=0                    ] 100%
+[ tup ] [10.613s] Updated. 
+```
+### Next steps
+Now see [how to flash a custom firmware to artoo](https://github.com/OpenSolo/documentation/blob/master/artoo/flash-custom-firmware.md).
+
+## Troubleshooting
+If tup complains about not finding a tupfile double check the folder you are in.  It should be the root directory clone from git.
+
+If you get other random issues try running tup as root.
+
+If you get complaints about images being to large or having to many colours, reclone the repo and try again. Read the customisation instructions *carefully*.

documentation/artoo/customisation/custom-boot-screen.md

@@ -0,0 +1,48 @@
+# Creating a custom boot/shutdown screen
+> You need to be comfortable with recompiling the artoo firmware before you can customise your controller.  You should see the [how to build artoo firmware](https://github.com/OpenSolo/documentation/blob/master/artoo/build-artoo-firmware.md) document and come back when you have an image that you built, successfully flashed onto artoo.
+
+### Requirements
+* Basic linux knowledge (sorry osx/windows users)
+* GIMP (these instructions use gimp, anything capable of working with a colour indexed image should work)
+* Ability to flash custom firmware onto artoo
+
+### Some Handy Numbers
+* Artoo max screen resolution: 320x240 pixels (4:3 aspect ratio)
+* Any image's max colors: 256*
+* *MUST be indexed
+
+### Let's Start
+#### Find your image
+First find your new logo image. Images that are simple cartoons or logo's work best. Avoid gradients and complex colours as it will not look great. The typical nyan cat image is about as creative as you can get without looking terrible. Try to find pictures as close to a 4:3 aspect ratio as you can.
+
+You can download the nyan cat sample image [here](https://github.com/OpenSolo/documentation/raw/master/artoo/customisation/sample-pics/nyan-cat-large.jpg).
+
+#### Change image mode to "Indexed"
+We need to decrease the "colour palette" to make the file size much smaller.
+
+1) Click on `Image` > `Mode` > `Indexed...`. In the window that pops up select `Generate optimum palette`. Make sure the `Maximum number of colours: ` option is less than 255.
+
+2) Click the `Convert` button. Now go to `File` > `Export As` and save it as something like `image-converted.jpg`.
+
+#### Crop/Downsize
+Open the image in GIMP. The first thing you should do is crop the image so that it fits a 4:3 aspect ratio. It also needs to be downsized so it's less than or equal to 320x240 pixels. To do this:
+
+1) Go to `Image` > `Scale Image`. If it's a wide (horizontal) image type `240` pixels in the height column or if it's a narrow (vertical) image type `320` pixels into the width. The goal is to make the smallest dimension the same as artoo's maximum. (so we can crop off excess)
+
+2) Click the `Scale` button to scale it. Now click on `Image` > `Canvas Size`. Make sure the chain link is un linked so that the aspect ratio is unconstrained. Now change the width to `320` and height to `240`. If you did step 1 correctly you should only need to change one.
+
+3) In the image preview on the same window, drag the image sideways or up/down to crop it as you like. Click the `resize` button to confirm.
+
+#### Recompile artoo firmware
+Now we need to recompile artoo's firmware to include the new image.
+
+1) Copy the newly created image to the `artoo/resources/images` directory of the artoo source code.
+
+2) Edit the `artoo/resources/assets.cfg` file with your new image file name. The line you're looking for is called `Icon_Solo_Startup_Logo: ...`.  I highly suggest commenting out the old file and leaving it there.  Add a new line below so it looks like the following:
+```
+# Original Logo
+#Icon_Solo_Startup_Logo: images/logo_startup/Solo_Logo.png
+# My custom logo :)
+Icon_Solo_Startup_Logo: images/logo_startup/nyan.png
+```
+3) Recompile and flash it!

documentation/artoo/flash-custom-firmware.md

@@ -0,0 +1,67 @@
+# Flashing custom firmware to artoo
+This guide shows you how to flash a custom firmware onto artoo. Super useful if you've bricked it (see note at end) or have made a custom build. If you haven't already, you should see [building artoo's firmware](https://github.com/OpenSolo/documentation/new/master/artoo/build-artoo-firmware.md).
+
+> Note: this was tested on an artoo flashed with OpenSolo and on an artoo just after a factory reset.  Both appeared to work but ymmv. (your mileage may vary)
+
+## Let's Start
+First you need to connect to the `SoloLink_xxx` WiFi. Once you're connected you can start running the commands below.
+
+Navigate to the artoo directory:
+```
+cd <open solo directory>/artoo
+```
+Make sure the firmware file has something in it:
+```
+du -h artoo.bin
+```
+Should output something like this:
+> 236K	artoo.bin
+
+The next two steps will require you to enter this password when prompted:
+```
+TjSDBkAu
+```
+Copy the firmware over:
+```
+scp artoo.bin root@10.1.1.1:/home/root/
+```
+SSH into artoo:
+```
+ssh root@10.1.1.1
+```
+Run the flash tool:
+```
+updateArtoo.sh
+```
+Your screen should immediately turn off.  You'll see lots of lines scrolling up the screen like below.  DO NOT interrupt this process.  Wait for it to finish, it will take a minute or two. You'll know when it's done because artoo's screen should turn back on.
+```
+root@3dr_controller:~# updateArtoo.sh 
+Bootloader version 22
+Chip id: 0x414 (STM32 High-density)
+Write 256 bytes at 0x8000000
+Write 256 bytes at 0x8000100
+Write 256 bytes at 0x8000200
+```
+Artoo should reboot.  Well the WiFi stays connected and it's quicker then usual so I doubt it's actually doing a full reboot. If you're running open solo you should now see the new boot up logo and text strings. Do a full reboot for good measure:
+```
+/sbin/shutdown -r now
+```
+
+If you've customised it you'll be greeted with the custom image.  Here's mine ;)
+
+![nyan cat solo start screen](https://github.com/OpenSolo/documentation/raw/master/artoo/nyan-solo.jpg)
+
+## Bricked artoo?
+If you've soft bricked artoo it's normally pretty easy to fix. This generally happens when a bad `artoo.bin` is genereated by solo-builder then flashed. This method only works if that is what has happened. Also note a factory reset _does not fix this_ as it just reflashes the dodgy `.bin` file again.
+
+#### Check your artoo.bin file size (optional)
+If you want to make sure this is the reason artoo got bricked you can check the artoo.bin file generated by solo-builder.  Decompress the complete artoo tarball. (normally called `3dr-controller.tar.gz`) Inside is a `3dr-controller-imx6solo-3dr-artoo.squashfs` file.  Open that file with the ubuntu archive manager and look inside the `/firmware` directory.  You should see a file that looks like `artoo_x.x.x.bin`.  If it's size is *0 bytes* you have a dodgy build.
+
+#### Download "good" copy of artoo.bin
+> This file is provided for use at your own risk.
+
+This link is a copy of the "good" artoo.bin file I built from the artoo source. This may or may not work on your controller but it is worth a try if your builds keep failing to produce a good `artoo.bin`. (and yes it has my nyan cat startup screen ;) )
+Download "good" [artoo.bin](https://github.com/OpenSolo/documentation/raw/master/artoo/artoo.bin)
+
+#### Flash "good" copy of artoo.bin
+Now press and hold the power on button for at least 5 seconds. (exactly like normal)  The controller will still turn on, the screen will just be blank. You can verify that it's booting up by looking in the air vent on the rear - you should see a red and/or orange light.  Wait ~30 seconds and the `SoloLink_xxx` WiFi should come up.  Connect to it then follow the [instructions above](https://github.com/OpenSolo/documentation/blob/master/artoo/flash-custom-firmware.md#lets-start) like normal, using the artoo.bin file you downloaded.

documentation/copter37.md

@@ -0,0 +1,83 @@
+# ArduCopter 3.7 Dev Testing
+
+Once complete, ArduCopter 3.7.0 will be the first stable release version compatible with all Solos.  The next full release of Open Solo will include ArduCopter 3.7.0.
+
+_Please read this entire set of release notes and instructions.  Every word is critical to doing this right._
+
+## WHO
+
+- This test version is compatible with all Solos, whether they have a stock cube, a green cube, or a new black cube
+- Contains motor output slew time limit, previously only present in the old 3DR firmware which is required with the stock cube
+- You must already have Open Solo installed and working properly!!!
+- You must already have Open Solo installed and working properly!!!
+- You must already have Open Solo installed and working properly!!!
+
+**Stock/Black Cube Users:** This will be a huge upgrade for you. You are leaping 3+ years into the future of ArduPilot from the old circa 2015 modified ArduCopter 3.2.  This is the first time the slew rate limiting code has been brought into ArduCopter master, and as such is the first time you can safely fly it in a stock/black cube Solo.  You are the most important test users!
+
+**Green Cube Users:** You can still install and fly this. It will handle the same as a stock/black cube Solo will handle.  The slew limiting parameter is enabled by default, and the PID tuning parameters reflect that as well.  You may notice a slight reduction in how crisp and snappy it handles, as is the nature of the slew rate limiting. But there are no other ill-effects.  You will also have all the other new features that come with 3.7 to test out (flight modes, ChibiOS, etc).  The more uses that test and tune this, the better.  So even if you have a Green Cube, please give this a whirl.
+
+## WHAT
+
+### ArduCopter 3.7-Dev + Patches
+
+The test package contains ArduCopter 3.7-dev (master) as of Saturday 12/8/2018.  This build of ArduCopter 3.7-dev has upcoming patches for the slew rate limiting required by the stock cubes and restoring the GoPro automatic power-off.  These two patches will be merged into master once we do this testing.  ArduCopter 3.7-dev is light years ahead of the old 3DR firmware, which was based on ArduCopter 3.2 in 2015.  It is also significantly ahead of the version that shipped with Open Solo for Green Cubes, which was ArduCopter 3.5.4.  _All required parameter values are baked in by default!! You do NOT need to load any parameter files._
+
+### Updated Python Files For IMX
+
+Numerous python files are included which will be loaded onto the Solo's IMX companion computer.  These files allow access to all of ArduCopter's new flight modes.  They also add error handling and anti-brick code to the firmware loading process.
+
+## WHEN
+
+Testing is needed ASAP. ArduCopter 3.7.0 will likely be released in the next few months.  By getting all of this tested now, we can ensure that 3.7.0 is 100% compatible with all Solos.
+
+## HOW
+
+### Prepare
+
+- You must already have Open Solo installed and working properly!!! It doesn't matter if it's the Green Cube or stock cube ArduCopter on there.  It just has to be Open Solo already.
+- You must have the Solex or SidePilot app to load the installer packages and use the new features.  And the app must be updated with the latest for the Play Store / App Store.
+- You must be willing to be a test pilot. This may not be perfect yet.  It could explode in mid-air, or crash, or do something else we couldn't predict. Please give us your feedback!!
+
+### INSTALL
+
+#### ArduCopter Firmware
+
+1. **While connected to the Internet**, go to the Solex FW Updates menu.  Press refresh and cleanup.
+2. Tap the _ArduCopter 3.7-Dev Slew Test_ package.  Tap download. Available will change to downloaded once complete.
+3. Tap the _ArduCopter 3.6 and 3.7 Controller Update_ package.  Tap download. Available will change to downloaded once complete.
+4. **Reconnect to Solo WiFi** and Connect Solex to the Solo. Allow parameter download to complete.
+5. In the Solex FW Updates menu, tap the _ArduCopter 3.7-Dev Slew Test_ package. Tap install and proceed.
+6. When prompted, you can close the FW install menus in Solex.
+7. Turn the Solo off and back on. It will click and the lights will go disco.
+8. Completing Installation:
+   - _**If you are upgrading from the old 3DR firmware on a stock cube:** it will not stop the disco lights and will not play the happy tones when it is done installing.  Therefore, just wait 3 minutes. Then power off the Solo and power it back on.  When it boots back up, you'll have the new lights and everything will be fine._
+   - _**If you are upgrading from ArduCopter 3.5 or 3.6 on a Green Cube:** The lights will go back to normal and you'll get the happy tones once installation is complete._
+9. If the Solo and Controller do not automatically reconnect promptly, simply reboot both of them.
+
+#### Parameter Reset
+
+1. Connect Solex to the Solo. Allow parameter download to complete.
+2. In the Solex FW Updates menu, tape the _RESET PARAMS_ button and proceed.
+3. Turn the Solo off and back on.
+4. You will probably get warnings about calibrations required, since all prior calibrations were wiped out.
+5. If you have a HERE, you should now go back into the Solex FW updates menu to reload that parameter package and reboot again.
+
+#### Controller Update
+
+1. Connect Solex to the Solo. Allow parameter download to complete.
+2. In the Solex FW Updates menus, tap the _ArduCopter 3.6 and 3.7 Controller Update_ package. Tap install and proceed.
+3. Controller screen will eventually go black during install.
+4. When prompted, press A button to continue.
+5. If the Solo and Controller do not automatically reconnect promptly, simply reboot both of them.
+
+### Post-Install Calibrations & Settings
+
+Proceed to the [post-installation instructions](../master/install_post.md) to do all the usual calibrations.
+
+## TESTING
+
+- Fly it.  We need people to report how it handles and how the flight modes are working out.
+- Tune it.  If you are familiar with ArduCopter PID tuning, and want to try dialing it even better, please do so and report your results
+- Feedback is needed.  Please tell us everything you like or dislike. Tell us what worked and didn't work. 
+
+## WARNING: Do not use the _very fast_ speed slider setting in Solex until further notice.  There is an error in the acceleration value sent to the Solo, and it will handle very poorly.  All other speed sliders from very slow up to and including fast work fine.  Once this is fixed in the next Solex update, this warning will be removed.

documentation/green_cube_install.md

@@ -0,0 +1,55 @@
+# GREEN CUBE INSTALLATION #
+
+1. **Install OpenSolo:** Prior to installing the Green Cube, you must install the latest version of Open Solo. This installation needs to be complete and operational. Follow all the instructions up to and including all calibrations and test flying. Once this is complete, proceed to step two.
+_If you already have the latest version of Open Solo installed and operational, you may proceed to step 2. You do not need to reinstall it._
+   - [Open Solo Release Notes](https://github.com/OpenSolo/documentation/releases) for the lastest version information
+   - [Install using the Solex app on Android](../master/install_solex.md)
+   - [Install using SidePilot app on iOS](../master/initial_sidepilot.md)
+
+2. **Remove the battery tray:** Remove the battery and pop off the GPS cover.  Then unscrew all the small black screws around the battery tray. The battery tray can now be lifted up.  Unplug the GPS from the carrier board.  Set the battery tray aside. We highly recommend you do not lose the screws.
+   ![Battery Tray Screws](https://github.com/OpenSolo/documentation/blob/master/Misc/battery_tray_screws.jpg)
+
+3. **Lift up the carrier board:** Locate the comparatively large silver screw on the right side toward the front. Unscrew that and set it aside with all the other screws that you're not going to lose.  The carrier board can now be lifted up very carefully.  You will need to fidget with the wires from the motor pods a bit.  The board will need to go up a bit, then shift back, then shift up the rest of the way. The left side can go up higher than the right, which is convenient.  It's kind of tight and generally annoying.  Be careful not to break the small wires.  Don't break any of the other wires either.  You will need to get the board high enough up to expose the Pixhawk mounted underneath it.  It's the black cube looking device.
+   ![carrier screw](https://github.com/OpenSolo/documentation/blob/master/Misc/carrier_retainer_screw.jpg)
+   ![wires](https://github.com/OpenSolo/documentation/blob/master/Misc/carrier_board_wires.jpg)
+
+4. **Unscrew the stock pixhawk:** There are 4 very small screws on the top of the carrier board. Unscrew them and set them aside. The stock Pixhawk can now be removed. It will pull down off the carrier board. Set the stock Pixhawk aside somewhere safe. You will want to keep it.
+   ![Pixhawk screws](https://github.com/OpenSolo/documentation/blob/master/Misc/pixhawk_screws.jpg)
+
+5. **Install the green cube:** The green cube installs the same way the old one came off.  Plug it into the carrier board from the bottom. When it's lined up properly, it should only take a gentle squeeze and you should hear a click as the connector seats.  Then put in the four screws.
+  ![cube installed](https://github.com/OpenSolo/documentation/blob/master/Misc/cube_installed.jpg)
+  
+6. **Do not reassemble yet:** It is best to do the initial firmware install with the Solo still opened up. If anything goes wrong, it avoids having to disassemble it again. 
+
+7. **Power up the Solo and reconnect to controller:** Put the battery onto the solo. It will just sit atop the carrier board. Obviously you should avoid manhandling the Solo while like this since the battery can just fall off. So get everything situated first.  Turn on the battery.  The solo will power up as usual. After a short while, the Solo will reconnect with the controller as usual. It will probably give you all kinds of warnings about calibration. This is normal and expected.
+
+8. **IF THE SOLO DOES NOT BOOT UP PROPERLY, DO NOT CONTINUE BEYOND THIS STEP UNTIL IT IS FIXED:**
+    - Connect via WinSCP or Filezilla
+    - Download 3dr-solo.log, boot.log, and python_stderr.log. Post them in the Facebook beta group or forum for analysis
+    - Most likely, this can be fixed by hooking up to the cube via USB and using Mission Planner to load ArduCopter Firmware
+    - Help and troubleshooting is again available in the Facebook beta testing group.
+    
+9. **Load the firmware and parameters**
+
+    a. **Solex:**
+    * In the Solex menu all the way at the bottom, select `Firmware Updates`.
+     * While your device has an internet connection, hit the refresh button to pull down the latest from the server.
+     * While your device has an Internet connection, click the `ArduCopter_x_Firmware` package to download it. The available status will change to downloaded for each one. You should also download any applicable parameter packages for modifications you have on your Solo such as the HERE or retractable landing gear.
+     * If not already, reconnect to the Solo's WiFi and make sure Solex says it's connected to vehicle.
+     * **Install ArduCopter:** In the Solex firmware updates menu, tap the `ArduCopter 3.5.x Firmware` package. Read the notice and select `install`. All the files will be copied to the Solo in all the right places. When prompted, power cycle the Solo. It will reboot, then switch into bootloader mode. Normally you will see disco lights while it's doing this. But if the LED driver isn't enabled, you may not. Don't worry. It's working. Give it 3-5 minutes to process. You may hear some clicks as the Pixhawk reboots. After 3-5 minutes, you will hear some tones signalling completion. It will come back to life, reconnecting with the controller and Solex. 
+     * **Reset Parameters:** With the Solex app reconnected to the Solo, click the `Reset Params` button on the firmware update screen of Solex.  When prompted, power cycle the solo.
+     * **Load Parameters:** _If you have the HERE GPS/Compass or retractable landing gear, you will need to load those parameter packages now.  If you do not have either of these modes, you should skip this step._ With the app reconnected to the Solo, click the package. Read the notice and select `install`. One you've loaded the parameters pacakges, reboot the solo.
+     * **Complete:** The solo will reboot and reconnect to the controller and apps.  You will notice the LEDs now look like an aircraft rather than a car. Installation complete!
+     
+     b. **SidePilot**
+    * In the SidePilot menu all the way at the bottom, select `Help & Settings` then scroll down and select `3DR Solo Firmware Update`.
+     * While your device has an Internet connection, click the `ArduCopter_x_Firmware` package to download it. The available status will change to downloaded for each one. You should also download any applicable parameter packages for modifications you have on your Solo such as the HERE or retractable landing gear.
+     * If not already, reconnect to the Solo's WiFi and make sure SidePilot begins receiving telemetry data.
+     * **Install ArduCopter:** In the SidePilot firmware updates menu, tap the `ArduCopter 3.5.x Firmware` package. Read the notice and select `install`. All the files will be copied to the Solo in all the right places. When prompted, power cycle the Solo. It will reboot, then switch into bootloader mode. Normally you will see disco lights while it's doing this. But if the LED driver isn't enabled, you may not. Don't worry. It's working. Give it 3-5 minutes to process. You may hear some clicks as the Pixhawk reboots. After 3-5 minutes, you will hear some tones signalling completion. It will come back to life, reconnecting with the controller and SidePilot. 
+     * **Load Parameters:** _If you have the HERE GPS/Compass or retractable landing gear, you will need to load those parameter packages now.  If you do not have either of these modes, you should skip this step._ Once you've loaded the parameters pacakges, reboot the solo. With the app reconnected to the Solo, click the package. Read the notice and select `install`. One you've loaded the parameters pacakges, reboot the solo.
+     * **Complete:** The solo will reboot and reconnect to the controller and apps.  You will notice the LEDs now look like an aircraft rather than a car. Installation complete!
+
+10. **Reassemble the Solo** once the installation has completed successfully. Make sure you don't have any screws left over.  Make sure all the wires, including the GPS and motor pods, are plugged back in.
+
+### Installation Complete! ###
+Proceed to the [post-installation instructions!](../master/install_post.md)

documentation/initial_sidepilot.md

@@ -0,0 +1,26 @@
+## Detailed Install Using The SidePilot App ##
+
+1. **Download packages:** With your device connected to the Internet, go into the SidePilot 'Help & Settings' menu, and tap the '3DR Solo Firmware Upgrade' menu and download the Open Solo Clean Install packages (solo and controller). You can do this either before or after connecting to Solo's WiFi_.  The installation packages are 75MB each, so it will take a little longer to download than you may be used to. If you don't see the Firmware Updates menu, make sure you have 3DR Solo selected as your connection type.
+
+2. **Connect:** Once you've downloaded both, connect your mobile device to the Solo WiFi and tap the connect button in the top right corner of the SidePilot main screen. Ensure you begin receiving telemetry data before continuing. Again, your solo and controller must be fully charged, powered on, paired, connected, and not malfunctioning. 
+
+3. **Install:** From the firmware updates menu in SidePilot, tap the _Open Solo 3.0.0 Clean Install_ package that you previously downloaded. Read the instructions and continue with the installation by tapping the 'Install' button. Again, be patient while numerous large files are extracted and scripts execute. Do not push buttons, exit the app, mess with the Solo, etc. Let it do its thing. Do this for both the controller package and the copter package. The process the same. You must do both.
+
+4. **Reboot:** Power cycle the Solo and controller once the installation packages have both completed successfully. When they power back on, they will automatically begin a factory reset procedure. Since we just installed Open Solo on the recovery partitions, they are factory resetting to Open Solo! They will then automatically execute a second update procedure, cleanly installing Open Solo on the system partition.
+    - You will likely hear the Pixhawk reboot 2-3 times. This is normal.
+    - You will likely see the controller reboot and say update success twice. This is also normal.
+    - It is difficult to know exactly what stage it is at since it can't speak and isn't telepathic. The process takes about 6 minutes on both the solo and the controller.  So just wait about 6 minutes.
+
+5. **Pair:** Hit the pair button under the Solo with a small pointy poking apparatus like a paper clip for 2 seconds to get the controller and solo re-paired. When the controller tells you it has detected the solo, hold the A and B button for 3 seconds... which is the second set of vibrations... until the the screen says pairing in progress.
+
+6. **Reconnect mobile device:** You will need to reconnect your mobile device to Solo's WiFi now.  Since it did a factory reset, the Solo and controller are using their default WiFi SSID and password (the default password is `sololink`).
+
+7. **Load applicable parameter packages:** If you have a HERE GPS/Compass or a retractable landing gear mod, you will need to install some applicable parameter packages now.  If you have none of these modifications, you can skip this step.
+   - Tap each package in the SidePilot Firmware Updates menu to install the parameters. You do not need to reboot after each one.
+   - If you have the HERE gps/compass, load the _HERE Parameters_ package.
+   - If you have the landing gear mod, load the _Landing Gear Parameters__ package.
+   - You do _not_ need to load the ArduCopter parameters or ArduCopter firmware packages!!!
+   - Reboot the solo after loading all the applicable parameter packages.
+   
+### Installation Complete! ### 
+Proceed to the [post-installation instructions!](../master/install_post.md)

documentation/initial_ssh.md

@@ -0,0 +1,91 @@
+## Manual SSH Install ##
+
+### WARNING ###
+This procedure is for users that want to install Open Solo manually using various SSH and file transfer tools on a PC. If you are not familiar with SSH and copying files to/from the Solo, this procedure is not for you. This is for advanced users already familiar with the technology and procedures involved.
+
+
+### SETUP ##
+1. **Download** the `Open Solo x.x.x.zip` file from the release attachments and unzip somewhere convenient on your computer.
+
+2. **Power up** the copter and controller. Both should be fully charged, paired, connected, and working normally.
+
+3. **Connect** your PC to the Solo's WiFi.
+
+
+### COPTER FILES ##
+
+1. **SSH into the _Copter_** at address 10.1.1.10, username `root` and password `TjSDBkAu`.
+
+2. **Prepare for upload** by executing the following commands. When you execute the --get-image command, make sure it says "latest".
+    ```
+    sololink_config --get-image
+    sololink_config --update-prepare sololink
+    umount /dev/mmcblk0p1
+    mkfs.vfat /dev/mmcblk0p1 -n GOLDEN
+    mkdir -p /tmp/golden
+    mount /dev/mmcblk0p1 /tmp/golden
+    ```
+    
+3. **Copy files** from inside the 3dr-solo.tar.gz file to the `/tmp/golden` directory on the Solo. _Not the tar file_. The individual files within it. You can copy it with SSH or use an app like WinSCP or FileZilla.
+   - 3dr-solo-imx6solo-3dr-1080p.squashfs
+   - imx6solo-3dr-1080p.dtb
+   - u-boot.imx
+   - uImage
+
+4. **Verify the files copied. Refresh the folder in WinSCP or FileZilla... or run `ls /tmp/golden`. Make sure the files you see match the files you uploaded.
+
+5. **Finalize the update** with the following final commands:
+   ```
+   umount /dev/mmcblk0p1
+   touch /log/updates/FACTORYRESET
+   ```
+
+6. **Exit** the SSH session and exit any other apps (WinSCP/FileZilla).
+
+
+### CONTROLLER FILES ##
+
+1. **SSH into the _Controller_** at address 10.1.1.1, password TjSDBkAu.
+
+5. **Prepare for upload** by executing the following commands. When you execute the --get-image command, make sure it says "latest".
+    ```
+    sololink_config --get-image
+    sololink_config --update-prepare sololink
+    umount /dev/mmcblk0p1
+    mkfs.vfat /dev/mmcblk0p1 -n GOLDEN
+    mkdir -p /tmp/golden
+    mount /dev/mmcblk0p1 /tmp/golden
+    ```
+    
+6. **Copy files** from inside the _3dr-controller.tar.gz_ file to the `/tmp/golden` directory on the Controller. _Not the tar file_. The individual files within it. You can copy it with SSH or use an app like WinSCP or FileZilla.
+   - 3dr-controller-imx6solo-3dr-artoo.squashfs
+   - imx6solo-3dr-artoo.dtb
+   - u-boot.imx
+   - uImage
+
+7. **Verify the files copied. Refresh the folder in WinSCP or FileZilla... or run `ls /tmp/golden`. Make sure the files you see match the files you uploaded.
+
+8. **Finalize the update** with the following final commands:
+   ```
+   umount /dev/mmcblk0p1
+   touch /log/updates/FACTORYRESET
+   ```
+
+9. **Exit** the SSH session and exit any other apps (WinSCP/FileZilla).
+
+### Execution ###
+From this point forward, it is the same as any other installation method.
+
+4. **Reboot:** Power cycle the Solo and controller once the Copter and Controller steps above are complete. When they power back on, they will automatically begin a factory reset procedure. Since we just installed Open Solo on the recovery partitions, they are factory resetting to Open Solo! They will then automatically execute a second update procedure, cleanly installing Open Solo on the system partition.
+    - You will likely hear the Pixhawk reboot tones 2-3 times.  This is normal.
+    - You will likely see the controller reboot and say update success twice. This is also normal.
+    - It is difficult to know exactly what stage it is at since it can't speak and isn't telepathic. The process takes about 6 minutes on both the solo and the controller. So just wait about 6 minutes.
+
+5. **Pair:** Hit the pair button under the Solo with a small pointy poking apparatus like a paper clip for 2 seconds to get the controller and solo re-paired. When the controller tells you it has detected the solo, hold the A and B button for 3 seconds... which is the second set of vibrations... until the the screen says pairing in progress. If the copter and controller are not pairing, reboot both. They may have timed out.
+
+6. **Reconnect mobile device:** You will need to reconnect your mobile device to Solo's WiFi now.  Since it did a factory reset, the Solo and controller are using their default WiFi SSID and password (the default password is `sololink`).
+
+7. **Load applicable parameter packages:** If you have a HERE GPS/Compass, and/or Ian's landing gear mod, you will need to change or load those parameter packages. You can load the parameter packages in Solex or SidePilot.  Or you can change them manually in Mission Planner or Tower.  If you're doing this procedure, it is assumed you know how to do this and don't need instructions on parameters.
+   
+### Installation Complete! ### 
+Proceed to the [post-installation instructions!](../master/install_post.md)

documentation/install_post.md

@@ -0,0 +1,20 @@
+## Open Solo - Post Installation Instructions ##
+Regardless of installation method, this is what you will need to do next, leading up to flight. Consequently, this is also what you need to do after a parameter reset in the future if you need to.
+
+1. **Level Calibration:** Use the _IMU Calibration_ function in the Solex app, or the _level calibration_ function in the 3DR or SidePilot apps, or the _3D Accel Calibration_ in Mission Planner, or the _Accelerometer Calibration_ in the Tower app to do the level calibration. They all do the same thing and just give it different names.  Reboot when complete.
+   - The level calibration must be done on a solid, stable, level surface like a table or hard floor.
+   - For each axis you calibrate, wait about 10 seconds after putting it down before pressing the button.
+   - Make sure the solo is _perfectly still_ when you push the button each time.
+   - The first step where it is right side up needs to be both _perfectly still and as level as you can make it_. The rest do not require perfect leveling.  Just being still.
+   - Reboot when complete. The apps may not tell you to reboot. They may tell you to go fly. Reboot.
+
+2. **Compass Calibration:** Use the _Compass Calibration_ function in The Solex app, SidePilot or 3DR app. Or use the _Onboard Compass Calibration_ in Mission Planner. They all do the same thing and just give it different names.  Reboot when complete.
+   - Must be done outdoors
+   - Must be done in an open area away from buildings, vehicles, reinforced concrete slabs, power lines, MRI machines, metal fencing, etc.
+   - Remove any magnetic jewelry or steel accessories you may be wearing
+   - Rotate the solo around each of its axes: Right side up, both sides, nose up, nose down, upside-down, etc. If you just spin it around level, it will fail. Keep spinning it around until it completes.
+   - Reboot when when complete. The apps may not tell you to reboot. They may tell you to go fly. Reboot.
+
+3. **Settings and Options:** Go through the _Vehicle Settings_ menu in Solex or the Solo settings in the 3DR app to set and verify all your settings and options.  You will need to set your RTH altitude, A & B buttons, geofence, max altitude, speed sliders, etc.  You can also change the WiFi SSID and password.
+
+4. **FLY!** Find a safe open area to test fly the Solo. Ensure everything is operating as you expect and intend. Enjoy.

documentation/install_sdimage.md

@@ -0,0 +1,64 @@
+## Manual SD Card Image Install ##
+This procedure is for users that need to write a full image to the IMX companion computer SD card. This is usually to recover from some catastrophic disc corruption issue. But you can use this process to do the install from scratch if desired.
+
+### WARNING ###
+This requires extensive disassembly of the Solo and/or controller in order to access the SD cards. You will need to scrape the glue off the SD card slots to remove the cards. This process is not recommended unless you actually need to do it for some reason.
+
+### SETUP ##
+1. **Required Applications:** 
+   - Download and install the [7zip application](http://www.7-zip.org/download.html) if you don't already have it. 7zip is the only format that could compress the image small enough for github release attachment. You'll need 7zip or other compatible application to unzip the SD Card image files you downloaded in step 1.
+   - Download and install the [Win32 Disk Imager application](https://sourceforge.net/projects/win32diskimager/files/latest/download) if you don't already have it. This is the application that will burn the image to the SD Card.
+
+2. **SD Card Image Files:** Download the `Open Solo SD Card Image.7z` file from the github release attachments. There is one for the copter and one for the controller, with the version in the file name (such as 3.0.0). Download either one or both, whichever you need. Unzip using 7zip somewhere convenient on your computer. The zip file contains an `img` file for the Controller or Copter SD cards.
+
+
+### COPTER SD CARD ##
+It is strongly suggested that you only remove one SD card at a time if you're planning to do both the copter and the controller. This is to avoid mixing the cards up since they appear identical.
+
+1. Insert the SD card card from the copter's IMX companion computer into your PC's SD card slot.
+
+2. Open the Win32 Disk Imager application
+
+3. Under _device_, make sure it is set to the SD card's drive letter on your PC.
+
+4. Under _Image File_, select open and navigate to and select the Open Solo _copter_ SD image file from the zip file.
+
+5. Press the _Write Button_ to begin writing the SD card image.  The write can take 20-60 minutes depending on how fast your PC is.  Do not interrupt the write process!!
+
+6. Place the completed SD card back into the copter's IMX companion computer. Power up and verify everything boots up as it should.  Presuming there is nothing else wrong, the IMX and Pixhawk should boot up normally.
+
+### CONTROLLER SD CARD ##
+It is strongly suggested that you only remove one SD card at a time if you're planning to do both the copter and the controller. This is to avoid mixing the cards up since they appear identical.
+
+1. Insert the SD card card from the Controller's IMX companion computer into your PC's SD Card slot.
+
+2. Open the Win32 Disk Imager application
+
+3. Under _device_, make sure it is set to the SD card's drive letter on your PC.
+
+4. Under _Image File_, select open and navigate to and select the Open Solo _controller_ SD image file from the zip file.
+
+5. Press the _Write Button_ to begin writing the SD card image.  The write can take 20-60 minutes depending on how fast your PC is.  Do not interrupt the write process!!
+
+6. Place the completed SD card back into the controller's IMX companion computer. Power up and verify everything boots up as it should.  Presuming there is nothing else wrong, the controller should boot up normally.
+
+
+### Execution ###
+From this point forward, it is the same as any other installation method.
+
+1. **Factory reset the Solo and Controller:** Use the standard factory reset procedure on the Solo and Controller. However, if you only did the image for one, you only need to do the one. Since we just installed Open Solo on the recovery partitions, they are factory resetting to Open Solo! They will then automatically execute a second update procedure, cleanly installing Open Solo on the system partition.
+
+    - **Copter:** _Start with the copter powered off_. Use a paper clip or similar poking apparatus to press and hold Solo’s Pair button while powering on Solo. Make sure you feel the Pair button click down underneath the paper clip to verify you have properly activated the button. Continue holding the Pair button for at least 15 seconds after power-up. Below the Accessory Port and adjacent to the Pair button is a small orange LED Pair indicator light. Once this light starts flashing rapidly, about five times per second, release the Pair button.
+    - You will likely hear the Pixhawk reboot 2-3 times. This is normal.
+    - **Controller:** _Start with the controller powered off_. Hold the Power and Fly buttons simultaneously until you see the controller-updating display.
+    - You will likely see the controller reboot and say update success twice. This is also normal.
+    - It is difficult to know exactly what stage it is at since it can't speak and isn't telepathic. The process takes about 6 minutes on both the solo and the controller.  So just wait about 6 minutes.
+
+2. **Pair:** Hit the pair button under the Solo with a small pointy poking apparatus like a paper clip for 2 seconds to get the controller and solo re-paired. When the controller tells you it has detected the solo, hold the A and B button for 3 seconds... which is the second set of vibrations... until the the screen says pairing in progress. If the copter and controller are not pairing, reboot both. They may have timed out.
+
+3. **Reconnect mobile device:** You will need to reconnect your mobile device to Solo's WiFi now.  Since it did a factory reset, the Solo and controller are using their default WiFi SSID and password (the default password is `sololink`).
+
+4. **Load applicable parameter packages:** If you have a HERE GPS/Compass, and/or Ian's landing gear mod, you will need to change or load those parameter packages. You can load the parameter packages in Solex or SidePilot.  Or you can change them manually in Mission Planner or Tower.  If you're doing this procedure, it is assumed you know how to do this and don't need instructions on parameters.
+   
+### Installation Complete! ### 
+Proceed to the [post-installation instructions!](../master/install_post.md)

documentation/install_solex.md

@@ -0,0 +1,44 @@
+## Detailed Open Solo Install Using The Solex App ##
+_Note: If you are doing a brand new green cube install, please be sure to start off with the [New Green Cube Install Instructions](../master/green_cube_install.md). This warning does not apply to stock solos and existing green cube solos._
+
+**Please read all the instructions carefully prior to beginning. Skipping steps or doing things out of order will generally result in failure that is difficult to diagnose and repair.**
+
+***These instructions are for Solex version 1.6.6 released ono 12/29/2017, or higher versions.  Please ensure your mobile device has the latest version of Solex installed via the Google Play Store.***
+
+1. **Download packages:** If you haven't recently downloaded the latest files, you will need to do this first.
+   - First connect your mobile device to the Solo's WiFi and open Solex.  Allow Solex to connect to the Solo and download parameters. It must make this connection first, or you will not see the firemware updates menu. This is how Solex determines it is connected to a Solo and no some other type of drone.
+   - Make sure you have _Advanced Mode_ checked in the Solex application settings menu, or you will not see the firmware updates menu.
+   - Switch your mobile device WiFi over to your home WiFi as you will need high speed internet to download.
+   - With your device connected to the internet, go into the Solex _Firmware Updates_ menu.
+   - Press the _clean up_ button, then the _refresh_ button to make sure you're seeing the latest files.
+   - Download the Open Solo Clean Install packages (solo and controller) by tapping the packages. _Available_ will change to _downloaded_ once complete. The installation packages are ~80MB each, so it will take a little longer to download than you may be used to.
+   - If you have the HERE GPS or retractable landing gear mods, also download those parameter packages.
+   - You do _not_ need the ArduCopter parameter package or the ArduCopter firmware package for this process.
+
+2. **Reconnect:** Once you've downloaded both, reconnect your mobile device to the Solo WiFi and make sure Solex says connected to vehicle. Again, your solo and controller must be fully charged, powered on, paired, connected, and not malfunctioning. You may need to press the connect button in Solex to force it to reconnect.
+
+3. **Install:** From the firmware updates menu in Solex, tap one of the _Open Solo Clean Install_ packages that you previously downloaded (copter or controller, doesn't matter which you do first).
+   - Read the notes and press install. Press install when prompted again to confirm. _This is your last chance to change your mind_.
+   - Again, be patient while numerous large files are extracted and scripts execute. Do not push buttons, exit the app, mess with the Solo, etc. Let it do its thing. Until it says it has completed.
+   - Do this for both the controller package and the copter package. The process the same. You must do both.  Do not reboot or do anything else between these installs.
+
+4. **Reboot:** Power cycle the Solo and controller once the Solex installation packages have both completed successfully. When they power back on, they will automatically begin a factory reset procedure. Since we just installed Open Solo on the recovery partitions, they are factory resetting to Open Solo! They will then automatically execute a second update procedure, cleanly installing Open Solo on the system partition.
+    - You will likely hear the Pixhawk reboot 2-3 times. This is normal.
+    - You will likely see the controller reboot and say update success twice. This is also normal.
+    - It is difficult to know exactly what stage it is at since it can't speak and isn't telepathic. The process takes about 6 minutes on both the solo and the controller.  So just wait about 6 minutes.
+
+5. **Pair:** Hit the pair button under the Solo with a small pointy poking apparatus like a paper clip for 2 seconds to get the controller and solo re-paired. When the controller tells you it has detected the solo, hold the A and B button for 3 seconds... which is the second set of vibrations... until the the screen says pairing in progress.
+
+6. **Reconnect mobile device:** You will need to reconnect your mobile device to Solo's WiFi now.  Since it did a factory reset, the Solo and controller are using their default WiFi SSID and password (the default password is `sololink`).
+
+7. **Load applicable parameter packages:** If you have a HERE GPS/Compass or a retractable landing gear mod, you will need to install some applicable parameter packages now.  If you have none of these modifications, you can skip this step.
+   - Tap each package in the Solex Firmware Updates menu to install the parameters. You do not need to reboot in between
+   - If you have the HERE gps/compass, load the _HERE Compass Parameters_ package.
+   - If you have the landing gear mod, load the _Landing Gear Parameters_ package.
+   - You do _not_ need to load the ArduCopter parameters or ArduCopter firmware packages!!!
+   - Reboot the solo after loading all the applicable parameter packages.
+
+8. In the Solex vehicle settings menu, you can verify everything installed by scrolling to the bottom and looking at the listed version information. Controller and Vehicle should say 3.0.0.  Controller FW should say Open Solo 3.0.0.  And autopilot FW should say 1.5.4 for a stock cube, and 3.5.4 for a green cube.
+
+### Installation Complete! ###
+Proceed to the [post-installation instructions!](../master/install_post.md)

documentation/solo/README.md

@@ -0,0 +1,2 @@
+# Solo Documentation
+> Nothing has been added yet :(