> For the complete documentation index, see [llms.txt](https://docs.cubepilot.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.cubepilot.org/autopilot/the-cube/setup/firmware/installing-ardupilot.md).

# Installing ArduPilot

To install ArduPilot, complete the following steps:

{% hint style="info" %}
Firmware cannot be installed when The Cube is connected to Mission Planner.
{% endhint %}

<figure><img src="/files/uzlvDBT3cmuDo815KUTI" alt="" width="524"><figcaption></figcaption></figure>

1. Open Mission Planner.
2. Click **Setup** -> **Install Firmware**.
3. Select **AUTO** or a specific port of The Cube.&#x20;
4. Set the Baud rate to 115200.&#x20;
5. Select the type of platform and firmware to install from the drop-down menu.&#x20;
6. Click **Upload Firmware**.&#x20;

<figure><img src="/files/qjmrLVZlOL9SAouQRjhq" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/fttGiEaJ00Tsk60aqYL1" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
If problems occur after installing the latest firmware, revert to an older version. &#x20;
{% endhint %}

{% hint style="info" %}
Customized firmware can be installed without an Internet connection by selecting the files from local folders.
{% endhint %}

After ArduPilot has been successfully installed, a connection can now be established with The Cube. The following shows how to establish the connection for the different Cubes.&#x20;

**Cube Black**

Select the COM port, set the baud rate to 57600, and click **Connect**.

<figure><img src="https://docs.cubepilot.org/~gitbook/image?url=https%3A%2F%2F3175993181-files.gitbook.io%2F%7E%2Ffiles%2Fv0%2Fb%2Fgitbook-legacy-files%2Fo%2Fassets%252F-LUhw7cdLeWVORgnTA3i%252F-Lw0xLpjENudFwmT8L3O%252F-Lw0xPQfN2h2Z44UOXA_%252Fcube-black-mp-com-port.jpg%3Fgeneration%3D1576285879129492%26alt%3Dmedia&#x26;width=768&#x26;dpr=4&#x26;quality=100&#x26;sign=e319cca9&#x26;sv=1" alt=""><figcaption></figcaption></figure>

**Cube Orange & Cube Yellow**

Select the Mavlink COM port, set the baud rate to 57600, and click **Connect**.

<figure><img src="https://docs.cubepilot.org/~gitbook/image?url=https%3A%2F%2F3175993181-files.gitbook.io%2F%7E%2Ffiles%2Fv0%2Fb%2Fgitbook-legacy-files%2Fo%2Fassets%252F-LUhw7cdLeWVORgnTA3i%252F-Lw0xLpjENudFwmT8L3O%252F-Lw0xPQhGkKRZDSkBGd6%252Fcube-orange-mp-com-ports.jpg%3Fgeneration%3D1576285878583036%26alt%3Dmedia&#x26;width=768&#x26;dpr=4&#x26;quality=100&#x26;sign=8ad193b6&#x26;sv=1" alt=""><figcaption></figcaption></figure>