Hi @suitangxiaoyi,
To flash autopilot firmware the computer doing the flashing must have a direct USB connection to the autopilot board (e.g. Pixhawk). The two possible approaches for flashing on custom firmware are to either:
- upload the firmware you want to flash via the web interface of your onboard computer (Raspberry Pi) and allow it to do the flashing, OR
- plug the autopilot board into your topside computer and manually use
wafto flash the firmware
Note that the autopilot firmware flashing functionality in recent beta releases of BlueOS is more robust than the one in our old Companion Software.