# FluxGrip: Integration with PX4

**URL:** <https://forum.zubax.com/t/fluxgrip-integration-with-px4/2863>\
**Category:** Blog\
**Tags:** fluxgrip\
**Created:** [July 22, 2026, 3:09pm UTC](https://forum.zubax.com/t/fluxgrip-integration-with-px4/2863 "2026-07-22T15:09:30Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![maksim.drachov](https://forum.zubax.com/user_avatar/forum.zubax.com/maksim.drachov/32/2624_2.png) [@maksim.drachov](https://forum.zubax.com/u/maksim.drachov)\
**Post date:** [July 22, 2026, 3:09pm UTC](https://forum.zubax.com/t/fluxgrip-integration-with-px4/2863/1 "2026-07-22T15:09:30Z")

</div>

# FluxGrip with standard PX4

This post shows how to use FluxGrip with standard PX4 firmware.

 ![image](https://forum.zubax.com/uploads/default/original/2X/4/4a775262bf49528e28d2770a1aae07943d73942c.jpeg)

_Tested with Holybro Pixhawk 6X Pro and FluxGrip running [502e1f5](https://files.zubax.com/products/com.zubax.fluxgrip/firmware/) version of the firmware._

- Clone the PX4-Autopilot repository

```auto
git clone git@github.com:PX4/PX4-Autopilot.git

```

> **Note**
> 
> Please make sure to use a version of PX4 which contains commit [93ab802](https://github.com/PX4/PX4-Autopilot/commit/93ab80220252e58f6a2b43155dcff402699444b8). This change set is required as it allows us to control the magnet through Dronecan using the `payload_deliverer` module. If you clone the latest master it will be present, however the last tagged version `v1.17.0` does not have it.

- Configure the firmware, the FMUv6x (or your corresponding flight controller) should contain:

```auto
CONFIG_DRIVERS_UAVCAN=y
CONFIG_MODULES_PAYLOAD_DELIVERER=y

```

These options are set in `boards/px4/fmu-v6x/default.px4board`.

- Build and flash

```bash
cd ~/Px4-Autopilot
git submodule update --init --recursive
make px4_fmu-v6x_default
make px4_fmu-v6x_default upload # if it's hanging and can't detect the FMU, re-plug it

```

- Open Mavlink Shell and check these values

```bash
param show UAVCAN_ENABLE # 2
param show UAVCAN_BITRATE # 1000000
param show UAVCAN_NODE_ID # 1
param show PD_GRIPPER_TYPE # 0

```

 ![image](https://forum.zubax.com/uploads/default/original/2X/8/8be803e5434678fbb26e554024e733800059507e.png)

- Connect FluxGrip to CAN1 on the flight controller.

> **Warning**
> 
> It is best to provide a seperate power supply to FluxGrip to speed up switching and reduce load on the flight controller’s power rail – FluxGrip can briefly consume large current during switching.

- Once connected CAN LEDs on FluxGrip should blink as follows:
  - 1 solid on the left (connection is up)
  - 1 blinking (connection is active)

- Verify that `uavcan` and `payload_deliverer` are working

```auto
uavcan status
payload_deliverer status

```

 ![image](https://forum.zubax.com/uploads/default/original/2X/0/007f25dc54f02501650babc6df47c74d94ee1f4c.png)

- Control the magnet
  - Release/open the magnet: `payload_deliverer gripper_open`
  - Grab/close the magnet: `payload_deliverer gripper_close`

Internally these produce:

```plaintext
open -> MAV_CMD_DO_GRIPPER, hardpoint 0, command 0
close -> MAV_CMD_DO_GRIPPER, hardpoint 0, command 1

```

When you issue the commands you should see the Magnet LED (to the right of the CAN LEDs) light up in patterns as outlined in the next section.

## Magnet LED patterns

- Magnet is in Detect state (Unknown): the default state upon turning on

- Magnet is ON (`payload_deliverer` will by default issue a grab command upon rebooting)

- Magnet is OFF

- Magnet is “Turning On”

- Magnet is “Turning Off”

If the Magnet LED is blinking rapidly, the magnet has failed to magnetize, reach out to Zubax.