PaparazziUAV - User contributions [en]

Modems

2021-01-21T06:53:55Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]].

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 NAMED "ESP8266 Chip Module" (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 13, for the Wemos D1 mini this line should read #define LED_PIN 2

It could be a joke but i didn't saw the EXCELLENT project of Christophe De Wagter (CDW) (i only saw it when i came here to edit this page...) and i spent 2 whole days and one night reading about Arduino coding style and ESP8266 libraries only to write a very simple version of his code...

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be also the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be about 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
The reason is simple, inside this 57600 bps bandwidth two things must be accommodated, one is the standard rc servo channel data and the other is the paparazzi telemetry.
OPENLRSng has 2 baud rate settings in its dedicated Chrome app, The serial link baud rate and the air data rate, set the first to 57600 and the second to 57600 which means that you will get a serial link connection speed of 57600 bps (rc receiver's uart and tx module uart connection speed) and an air data rate (rc receiver to radio Tx module) of 57600 bps which can pass a transparent serial link of 19200 bps along the rc link.
You must set the modem's baud rate in the airframe file at 57600 bps ALSO but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-21T06:52:15Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]].

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 NAMED "ESP8266 Chip Module" (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 13, for the Wemos D1 mini this line should read #define LED_PIN 2

It could be a joke but i didn't saw the EXCELLENT project of Christophe De Wagter (CDW) (i only saw it when i came here to edit this page...) and i spent 2 whole days and one night reading about Arduino coding style and ESP8266 libraries only to write a very simple version of his code...

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry connection speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be about 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
The reason is simple, inside this 57600 bps bandwidth two things must be accommodated, one is the standard rc servo channel data and the other is the paparazzi telemetry
OPENLRSng has 2 baud rate settings in its dedicated Chrome app, The serial link baud rate and the air data rate, set the first to 57600 and the second to 57600 which means that you will get a serial link connection speed of 57600 bps (rc receiver's uart and tx module uart connection speed) and an air data rate (rc receiver to radio Tx module) of 57600 bps which can pass a transparent serial link of 19200 bps along the rc link.
You must set the modem's baud rate in the airframe file at 57600 bps ALSO but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-21T06:51:47Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]].

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 NAMED "ESP8266 Chip Module" (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 13, for the Wemos D1 mini this line should read #define LED_PIN 2

It could be a joke but i didn't saw the EXCELLENT project of Christophe De Wagter (CDW) (i only saw it when i came here to edit this page...) and i spent 2 whole days and one night reading about Arduino coding style and ESP8266 libraries only to write a very simple version of his code...

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry connection speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be about 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.

The reason is simple, inside this 57600 bps bandwidth two things must be accommodated, one is the standard rc servo channel data and the other is the paparazzi telemetry
OPENLRSng has 2 baud rate settings in its dedicated Chrome app, The serial link baud rate and the air data rate, set the first to 57600 and the second to 57600 which means that you will get a serial link connection speed of 57600 bps (rc receiver's uart and tx module uart connection speed) and an air data rate (rc receiver to radio Tx module) of 57600 bps which can pass a transparent serial link of 19200 bps along the rc link.
You must set the modem's baud rate in the airframe file at 57600 bps ALSO but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-21T06:50:55Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]].

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 NAMED "ESP8266 Chip Module" (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 13, for the Wemos D1 mini this line should read #define LED_PIN 2

It could be a joke but i didn't saw the EXCELLENT project of Christophe De Wagter (CDW) (i only saw it when i came here to edit this page...) and i spent 2 whole days and one night reading about Arduino coding style and ESP8266 libraries only to write a very simple version of his code...

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry connection speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be about 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
The reason is simple, inside this 57600 bps bandwidth two things must be accommodated, one is the standard rc servo channel data and the other is the paparazzi telemetry
OPENLRSng has 2 baud rate settings in its dedicated Chrome app, The serial link baud rate and the air data rate, set the first to 57600 and the second to 57600 which means that you will get a serial link connection speed of 57600 bps (rc receiver's uart and tx module uart connection speed) and an air data rate (rc receiver to radio Tx module) of 57600 bps which can pass a transparent serial link of 19200 bps along the rc link.
You must set the modem's baud rate in the airframe file at 57600 bps ALSO but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-21T06:41:26Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]].

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 NAMED "ESP8266 Chip Module" (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 13, for the Wemos D1 mini this line should read #define LED_PIN 2

It could be a joke but i didn't saw the EXCELLENT project of Christophe De Wagter (CDW) (i only saw it when i came here to edit this page...) and i spent 2 whole days and one night reading about Arduino coding style and ESP8266 libraries only to write a very simple version of his code...

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be about 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
OPENLRSng has 2 baud rate settings in its dedicated Chrome app, The serial link baud rate and the air data rate, set the first to 57600 and the second to 57600 which means that you will get a serial link connection speed of 57600 bps (rc receiver's uart and tx module uart connection speed) and an air data rate (rc receiver to radio Tx module) of 57600 bps which can pass a transparent serial link of 19200 bps along the rc link.
You must set the modem's baud rate in the airframe file at 57600 bps ALSO but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-15T09:53:43Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]].

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 NAMED "ESP8266 Chip Module" (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 13, for the Wemos D1 mini this line should read #define LED_PIN 2

It could be a joke but i didn't saw the EXCELLENT project of Christophe De Wagter (CDW) (i only saw it when i came here to edit this page...) and i spent 2 whole days and one night reading about Arduino coding style and ESP8266 libraries only to write a very simple version of his code...

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be about 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
OPENLRSng has 2 baud rate settings in its dedicated Chrome app, The serial link baud rate and the air data rate, set the first to 57600 and the second to 57600 which means that you will get a serial link connection speed of 57600 bps (rc receiver to autopilot uart speed) and an air data rate (rc receiver to radio Tx module) of 57600 bps which can pass a transparent serial link of 19200 bps along the rc link.
You still need to set the modem baud rate in the aircraft file at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-15T09:52:24Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]].

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 NAMED "ESP8266 Chip Module" (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 13, for the Wemos D1 mini this line should read #define LED_PIN 2

It could be a joke but i didn't saw the EXCELLENT project of Christophe De Wagter (CDW) and i spent 2 whole days and one night reading about Arduino coding style and ESP8266 libraries only to write a very simple version of his code.....

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be about 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
OPENLRSng has 2 baud rate settings in its dedicated Chrome app, The serial link baud rate and the air data rate, set the first to 57600 and the second to 57600 which means that you will get a serial link connection speed of 57600 bps (rc receiver to autopilot uart speed) and an air data rate (rc receiver to radio Tx module) of 57600 bps which can pass a transparent serial link of 19200 bps along the rc link.
You still need to set the modem baud rate in the aircraft file at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-15T09:51:49Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]].

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 NAMED "ESP8266 Chip Module" (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 13, for the Wemos D1 mini this line should read #define LED_PIN 2
It could be a joke but i didn't saw the EXCELLENT project of Christophe De Wagter (CDW) and i spent 2 whole days and one night reading about Arduino coding style and ESP8266 libraries only to write a very simple version of his code.....

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be about 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
OPENLRSng has 2 baud rate settings in its dedicated Chrome app, The serial link baud rate and the air data rate, set the first to 57600 and the second to 57600 which means that you will get a serial link connection speed of 57600 bps (rc receiver to autopilot uart speed) and an air data rate (rc receiver to radio Tx module) of 57600 bps which can pass a transparent serial link of 19200 bps along the rc link.
You still need to set the modem baud rate in the aircraft file at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-15T09:33:42Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]].

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 NAMED "ESP8266 Chip Module" (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 13, for the Wemos D1 mini this line should read #define LED_PIN 2

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the modem baud rate in the aircraft file at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-15T09:26:09Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]].

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 NAMED "ESP8266 Chip Module" (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 13, for the Wemos D1 mini this line should read #define LED_PIN 2

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-14T23:12:17Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]].

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 NAMED "ESP8266 Chip Module" (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 2 // Wemos D1 mini on the board i use.

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-14T23:10:53Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 2 // Wemos D1 mini on the board i use.

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Where this ESP8266 application is different is that i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-14T22:09:06Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on basically so use the "esp8266_udp_firmware" but remember to edit the wifi_config.h to suit your needs and also the LED pin inside "pprz_udp_link" line #14
that reads #define LED_PIN 2 // Wemos D1 mini on the board i use.

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-14T21:46:35Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER AND IT WORKS VERY VERY WELL WITHOUT ANY DELAY, mine is a simple program just to understand what is going on

Now upload whichever program you decided to use to your ESP8266 board, both are in AP mode but have different SSID and password, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-14T21:38:41Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER, mine is a simple program.

Now upload whichever program you decided to use to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-14T21:37:33Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]

HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER, mine is a simple program.
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-14T21:37:09Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 (https://github.com/paparazzi/esp8266_udp_firmware) IS FAR BETTER, mine is a simple program.
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-14T21:36:07Z

Hendrix: /* Yet another ESP8266 datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
HAVE IN MIND THAT THE CODE IN THE PREVIOUS PROJECT WITH ESP8266 (https://github.com/paparazzi/esp8266_udp_firmware/tree/master/pprz_udp_link) IS FAR BETTER, mine is a simple program.
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-14T21:20:40Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== Yet another ESP8266 datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.

Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

File:UART to UDP paparazzi autopilot.zip

2021-01-14T21:12:41Z

Hendrix:

Sketch for connecting a serial port to the Paparazzi GCS and in particular with the Link agent via UDP datagrams.
I also found a timing issue that would prevent sending commands from the GCS to the aircraft due to download data congestion.

If you ever encounter an upload problem reduce the uart buffer size.

File:UART to UDP paparazzi autopilot.zip

2021-01-14T21:12:12Z

Hendrix: fixed a timing issue that prevented GCS to up;oad commands.

Sketch for connecting a serial port to the Paparazzi GCS and in particular with the Link agent via UDP datagrams.
I also found a timing issue that would prevent sending commands from the GCS to the aircraft due to download data congestion
If you ever encounter an upload problem reduce the uart buffer size.

File:UART to UDP paparazzi autopilot.zip

2021-01-14T20:32:27Z

Hendrix: Hendrix uploaded a new version of File:UART to UDP paparazzi autopilot.zip

Sketch for connecting a serial port to the Paparazzi GCS and in particular with the Link agent via UDP datagrams.

Modems

2021-01-14T05:25:29Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-14T05:25:09Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The ESP8266's default serial port speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng as the telemetry transport method please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
You still need to set the GCS session at 57600 bps but the actual telemetry rate will be about 19200 bps and that's why you need to adjust your messages that come through telemetry to fit in that 19200 bps rate.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-14T05:19:39Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress
[[File:Taranis openlrsng to udp.jpg|thumb]]
Lately i started connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.

Important: The serial port of the ESP8266 default speed is 57600 bps and this will be the telemetry speed but if you plan to duplicate my method of telemetry using OPENLRSng please remember that 57600 bps is only the speed of the TX module to ESP8266 module connection and not the actual telemetry data rate which will be 19200 bps maximum if you select the air to air data speed of the RC receiver and rc radio TX module to be 57600 bps.
With OPENLRSng air data speed set at 57600 bps there is enough bandwidth to transmit both the rc link and the 19200 bps telemetry data.
If you have any problem with the code let me know, use the mailing list or contact me directly.

VERY IMPORTANT:
ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T21:57:50Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress
[[File:Taranis openlrsng to udp.jpg|thumb]]
I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up the ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T21:56:59Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress
[[File:Taranis openlrsng to udp.jpg|thumb]]
I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot (and thus powering up ESP8266 module) so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T21:54:20Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress
[[File:Taranis openlrsng to udp.jpg|thumb]]
I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters, something very nice for setting up the compass, accelerometer or gyro neutral points and sensitivity.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE ESP8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T14:32:28Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress
[[File:Taranis openlrsng to udp.jpg|thumb]]
I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters.
The UART0 pins have been swapped because on my Wemos D1 mini the on board serial to USB chip uses the default UARTO pins, Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE esp8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T14:30:27Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress
[[File:Taranis openlrsng to udp.jpg|thumb]]
I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized, you can even use it as a cheap short range modem for testing the aircraft while not in flight, this way you avoid the messy wires and ftdi adapters.
The UART0 pins have been swapped so Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE esp8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T14:24:04Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress
[[File:Taranis openlrsng to udp.jpg|thumb]]
I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized.
The UART0 pins have been swapped so Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE esp8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T14:23:40Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress

I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized.
The UART0 pins have been swapped so Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS THE MANDATORY USE OF SHIELDED CABLE FOR CONNECTING THE esp8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT DUE TO RF INTERFERENCE PROBLEMS.
[[File:Taranis openlrsng to udp.jpg|thumb]]

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T14:21:23Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress

I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized.
The UART0 pins have been swapped so Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board, on my Wemos D1 mini pin D7 (GPIO13) is the Rx and D8 (GPIO15) is the Tx.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS TO USE SHIELDED CABLE FOR CONNECTING THE esp8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT.
[[File:Taranis openlrsng to udp.jpg|thumb]]

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T14:19:53Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress

I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized.
The UART0 pins have been swapped so Serial Tx is now assigned to GPIO15 and Rx is assigned to GPIO13 on your ESP8266 board.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS TO USE SHIELDED CABLE FOR CONNECTING THE esp8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT.
[[File:Taranis openlrsng to udp.jpg|thumb]]

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T14:12:45Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress

I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu, as a matter of fact i believe (but have not tested it) that the same code will work with the ESP32 modules provided that you will include the necessary header.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS TO USE SHIELDED CABLE FOR CONNECTING THE esp8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S SERIAL PORT.
[[File:Taranis openlrsng to udp.jpg|thumb]]

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T14:11:13Z

Hendrix: /* ESP8266 as a wifi datalink modem */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress

I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu, as a matter of fact i believe (but have not tested it) that the same code will work with the ESP32 modules provided that you will include the necessary header.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so after powering up the autopilot so it can transmit telemetry THEN CONNECT YOUR LAPTOP OR COMPUTER TO THE AP WITH SSID "PAPARAZZI" (password is "paparazzi") and in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS TO USE SHIELDED CABLE FOR CONNECTING THE esp8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S FTDI OUTPUT.
[[File:Taranis openlrsng to udp.jpg|thumb]]

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2021-01-12T14:04:29Z

Hendrix: Added support for the ESP8266 module

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules on this page'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else.
* Well educated people respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct USB connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and Molex Picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 grams
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

==== Documentation ====

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]

The Si1000 - Si102x/3x radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is paparazzi fork of [https://github.com/paparazzi/SiK open source firmware] for these radios which makes them suitable for use in MAVs. Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz). The latest SiK firmware supports also mesh topologies.

Sik firmware can be used for example for:
* powerful [http://rfdesign.com.au/products/rfd900-modem/ RFD 900+] modem. RFD 900+ is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).
* cheap and ubiquitous [http://ardupilot.org/copter/docs/common-3dr-radio-v1.html 3DR radios]
* for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system

The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.

=== Paparazzi SiK Firmware & RSSI===

Paparazzi has a modified fork of Sik firmware: https://github.com/paparazzi/SiK
This firmware add options to add RSSI info to your messages. Also aditionally to fully encrypt your connection

When using a SiK firmware radio with Paparazzi, you should set MavLink packing off ([https://github.com/paparazzi/SiK/blob/pprz_rssi/Firmware/radio/parameters.c#L63 set MAVLINK=0 here])and configure Paparazzi for transparent serial mode. You can also turn on an optional ''RSSI_COMBINED'' message that shows local and remote RSSI. To do that (and make Sik radio aware of Pprzlink packets) follow the instructions [https://github.com/paparazzi/SiK#paparazzi-rssi-enable here].

Make sure you to add the following line to your for your airframe chosen telemetry file: (conf/telemetry/ etc etc)

<source>
<process name="Ap">
<mode name="default">
...
<message name="RSSI_COMBINED" period="0.3"/>
...

</source>

 

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

either make a virtual connection to a Bluetooth serial port each time you connect

sudo rfcomm bind 0 00:06:66:00:53:AD

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== WiFi ==

== ESP8266 Chip Module ==

[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]

=== ESP as client ===
The WiFi chip tries to connect to a hotspot or router. The GCS is connected to the same network. No additional tools are required on the GCS computer.
See https://github.com/paparazzi/esp8266_udp_firmware for installation and usage instructions

=== ESP as host ===

Change the config of the software to use Host and set the preferred SSID and if wanted the PW and reflash the module
 

=== ESP8266 as a wifi datalink modem ===
Article in progress

I have great success in connecting the aircraft with the GCS link agent using the Wemos D1 mini or any other ESP8266 module as a short range modem.
In order to accomplish this you will need to setup the Arduino IDE, instructions here [https://randomnerdtutorials.com/how-to-install-esp8266-board-arduino-ide/ How to setup Arduino IDE for esp8266]
so it can compile and upload ESP8266 code to the ESP8266 mcu, as a matter of fact i believe (but have not tested it) that the same code will work with the ESP32 modules provided that you will include the necessary header.
After setting up the Arduino IDE you will need to compile and upload this sketch [[File:UART to UDP paparazzi autopilot.zip|thumb|uart to udp Access poin (AP)]]
and then upload it to your ESP8266 board, make sure that you have selected the right ESP8266 board as a target, i use the Wemos D1 mini because that was what came in first after i ordered a bunch of those ESP8266 modules.
Now just use the ESP8266 board as a regular modem but remember that now we are using UDP datagrams so in the GCS select the Flight UDP/WiFi session.
Basically i use the ESP8266 module as a wireless connection from my OrangeRx OPENLRSng TX module to the paparazzi running laptop
Instead of using a dedicated telemetry modem i use the open project OPENLRSng [https://github.com/openLRSng/openLRSngWiki/wiki OPENLRSng WiKi] which provides a RC link for controlling the aircraft AND a transparent serial link of up to 19200 bps, enough for my usual flights.
This way the telemetry leaves the aircraft via the rc link and i comes to my RC transmitter module and the via the ESP8266 module to the GCS running laptop.
I am sure that with a ESP8266 or a ESP32 module with external antenna and/or an bidirectional amplifier a very nice modem can be realized.
If you have any problem with the code let me know, use the mailing list or contact me directly.

ONE THING TO REMEMBER IS TO USE SHIELDED CABLE FOR CONNECTING THE esp8266 UART PINS WITH THE AUTOPILOT OR RC TX MODULE'S FTDI OUTPUT.
[[File:Taranis openlrsng to udp.jpg|thumb]]

== Telemetry via Video Transmitter==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

File:Taranis openlrsng to udp.jpg

2021-01-12T13:54:11Z

Hendrix:

esp8266 UDP AP

File:UART to UDP paparazzi autopilot.zip

2021-01-12T13:32:09Z

Hendrix:

Sketch for connecting a serial port to the Paparazzi GCS and in particular with the Link agent via UDP datagrams.

Gallery

2012-11-15T07:46:24Z

Hendrix: /* Video */

== User's Gallery ==
=== User's Aircraft Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|Early Twinstar Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|Glotzer Martin Mueller and Christian Lindenberg
Image:microvertigo.png|Micro-Vertigo (3D SLS Printed) University of Arizona Span 20 cm, mass 100g
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
Image:minivertigo.jpg|Mini-Vertigo II University of Arizona Span 30 cm, mass 100g
Image:Lelantos.jpg|Lelantos University of Arizona Span 15 cm, mass 200g
Image:DragonSlayer_0948sm.jpg|Dragon Slayer Miraterre Flight Systems Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|Night-equipped Twinstar and Twinjet Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|M.A.C. Orange One Martin Mueller and Christian Lindenberg
Image:slayer_twinstar_ii.jpg|Slayer and Twinstar The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|Triple-X Prototype Miraterre Flight Systems Span 90cm, mass 1400g
Image:Cybereye.jpg|CyberEye Miraterre Flight Systems Span 130cm, mass 2kg
Image:osamuavs.jpg|Two Zagi's, and Aggiebird Wing Spans 48", 60", and 100" OSAM-UAV Team
Image:NoVa1.jpg|NoVa Quadrotor AJ Kochevar Attitude Stabilized quadrotor using Tiny 2.0
Image:nirvana.jpg|Nirvana The 3 Minimag used at the LAAS-CNRS Laboratory
Image:Minimav.jpg| FJ1 The PPZUAV current project/ MAV 420mm / 85g
Image:Paparazzitelema1.jpg | Telemaster Autonomous platform to get used to the system
Image:Easystar cropped w800.JPG| John Burt tested and flying
Image:UAV.JPG|Luke Ionno over at rcgroups
Image:Mentor.JPG|Multiplex Mentor Joekadet, 7 flights, Auto2 working now.
Image:Azorean_UAV_01.jpg|Twinstar II [[Rui Costa]] Azores - Portugal.
Image:Y-UAV1.JPG|Y-UAV [http://www.y-uav.com Home Page] Meilen - Switzerland.
Image:UMARS.JPG|UMARS [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html Home Page] Winterthur - Switzerland.
Image:eHawk.JPG|eHawk R. Büttner Meilen - Switzerland.
Image:TwinStar_stspies1.JPG|TwinStar II [http://paparazzi.enac.fr/wiki/User:Stspies Steffen] Germany.
Image:Mentormaur.jpg|Multiplex Mentor R. Maurer Bottighofen - Switzerland.
Image:WindS50Emaur.jpg|SebArt Wind S 50E R. Maurer Bottighofen - Switzerland.
Image:Cougar.JPG|Cougar R. Büttner Meilen - Switzerland.
Image:UofA_UAP1.jpg|Senior Telemaster [http://paparazzi.enac.fr/wiki/UAlberta_UASGroup U of A UAS Group] Edmonton - Canada.
Image:High_Performance_Flying_Wing.JPG|Flying Wing T. Habermacher Zürich - Switzerland.
Image:Mentor_Wasserflug_2.jpg|Multiplex Mentor with floats R. Maurer Bottighofen - Switzerland.
</gallery>
|

|}

==Video==

[http://www.youtube.com/watch?v=M1k_TLcQ2ic Micro UAV climbing to 1500m on Spitsbergen/Arctic]

[http://www.youtube.com/user/aerovistapunktch#p/u/3/7OCcMA4vluM Desktop Record GCS Y-UAV]

[http://www.youtube.com/user/aerovistapunktch#p/u/1/o6auxzO93lU Bungee Launch Y-UAV]

[http://www.youtube.com/watch?v=7WyNxjZjn90 first parachute recovery testing of X8]

[http://www.youtube.com/watch?v=7B_F1CzGToM Easyglider goes for a bombing run]

[http://www.youtube.com/watch?v=qsYYL3EitQ8 Easyglider completely autonomous take off]

[http://www.youtube.com/watch?v=kEyfNS4qOyk&feature=plcp jet with paparazzi onboard]

== Flight competitions ==
=== [http://www.nal.res.in/MAV08/ MAV08] ===
; Agra, India, (March 10th -- 15th, 2008)
Best Mission Performance:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Paparazzi Slicer (ENAC)
* Paparazzi Glass One(s) (Martin Mueller Engineering)
* Paparazzi Dragonfly (University of Arizona)

Best Hover Performance/Rotorcraft:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Indian Institute of Technology, Bombay (IITB)

Best Autonomous Micro Air Vehicle:
* Paparazzi Slicer (ENAC)

Best Exotic Design Micro Air Vehicle:
* Paparazzi Dragonfly (University of Arizona)

Best UGV Performance:
* [http://cmr.mech.unsw.edu.au/mavstar/ MAVSTAR] (UNSW)

{|
|-valign="top"
|
<gallery caption="MAV08, Agra, India">
Image:Slicer.jpg|Slicer ENAC
Image:Glassone.jpg|Glass One 
Image:MAVSTAR.jpg|MAVSTAR 
</gallery>
|}

=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Mueller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|Dragon Slayer Miraterre Flight Systems
Image:Twisted_1413sm.jpg|Twisted Logic Miraterre Flight Systems
Image:Storm1.jpg|Storm1 Murat BRONZ
Image:Pingwing.jpg|Ping Wing Sweden
Image:Tyto.jpg|Tyto Supaero
Image:Redone.jpg|Red One/MAC 07 
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Mueller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindenberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindenberg
Image:ENAC-Planning-MAV06.jpg|ENAC Team
Image:Slayers-MAV06.jpg|Dragon Slayers Slayers acquiring GPS fix 
Image:Michel_vs_Slayer-MAV06.jpg|Catch! Michel bravely catching the Slayer in an autonomous landing 
Image:BYU-MAV06.jpg|BYU's Winning Design BYU used the Procerus Kestrel autopilot 
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|The Paparazzi teams in Garmisch
Image:mav05_dragonfly.jpg|Dragonfly ''University of Arizona''
Image:mav05_depronazzi.jpg|Glotzer ''Martin Mueller and Christian Lindenberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|The Paparazzi team
Image:emav04_02.jpg|Spectators
Image:emav04_03.jpg|Automatic tracking antenna
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
|}

== Scientific campaigns ==

=== FLOHOF 2007 ===
; Around the Hofsjökull glacier, Iceland, (August 2007)
{|
|-valign="top"
|
<gallery caption="FLOHOF 2007, Iceland">
Image:Kerlingafjoll.jpg|Flying southwest of the glacier
Image:High_alt.png|Climb slope
</gallery>
|}

=== THORPEX/Svalbard 2008 ===
; On and around Svalbard, Arctic Sea, (February 25th - March 15th, 2008)
{|
|-valign="top"
|
<gallery caption="THORPEX 2008, Svalbard">
Image:Kv_svalbard_ice.jpg|KV Svalbard
Image:Hangar.jpg|The KV Svalbard hangar
Image:Funjet_spitsbergen.jpg|Flying over the icy sea near Spitsbergen
Image:Waves.jpg|Waves in rough sea
Image:Breaking_ice.jpg|Breaking the ice
Image:Longyearbyen.jpg|Preparing the aircraft
Image:Landing_spitsbergen.jpg|Landing near Longyearbyen
</gallery>
|}

[[Category:Community]]

Gallery

2012-11-15T07:40:48Z

Hendrix: /* Video */

== User's Gallery ==
=== User's Aircraft Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|Early Twinstar Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|Glotzer Martin Mueller and Christian Lindenberg
Image:microvertigo.png|Micro-Vertigo (3D SLS Printed) University of Arizona Span 20 cm, mass 100g
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
Image:minivertigo.jpg|Mini-Vertigo II University of Arizona Span 30 cm, mass 100g
Image:Lelantos.jpg|Lelantos University of Arizona Span 15 cm, mass 200g
Image:DragonSlayer_0948sm.jpg|Dragon Slayer Miraterre Flight Systems Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|Night-equipped Twinstar and Twinjet Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|M.A.C. Orange One Martin Mueller and Christian Lindenberg
Image:slayer_twinstar_ii.jpg|Slayer and Twinstar The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|Triple-X Prototype Miraterre Flight Systems Span 90cm, mass 1400g
Image:Cybereye.jpg|CyberEye Miraterre Flight Systems Span 130cm, mass 2kg
Image:osamuavs.jpg|Two Zagi's, and Aggiebird Wing Spans 48", 60", and 100" OSAM-UAV Team
Image:NoVa1.jpg|NoVa Quadrotor AJ Kochevar Attitude Stabilized quadrotor using Tiny 2.0
Image:nirvana.jpg|Nirvana The 3 Minimag used at the LAAS-CNRS Laboratory
Image:Minimav.jpg| FJ1 The PPZUAV current project/ MAV 420mm / 85g
Image:Paparazzitelema1.jpg | Telemaster Autonomous platform to get used to the system
Image:Easystar cropped w800.JPG| John Burt tested and flying
Image:UAV.JPG|Luke Ionno over at rcgroups
Image:Mentor.JPG|Multiplex Mentor Joekadet, 7 flights, Auto2 working now.
Image:Azorean_UAV_01.jpg|Twinstar II [[Rui Costa]] Azores - Portugal.
Image:Y-UAV1.JPG|Y-UAV [http://www.y-uav.com Home Page] Meilen - Switzerland.
Image:UMARS.JPG|UMARS [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html Home Page] Winterthur - Switzerland.
Image:eHawk.JPG|eHawk R. Büttner Meilen - Switzerland.
Image:TwinStar_stspies1.JPG|TwinStar II [http://paparazzi.enac.fr/wiki/User:Stspies Steffen] Germany.
Image:Mentormaur.jpg|Multiplex Mentor R. Maurer Bottighofen - Switzerland.
Image:WindS50Emaur.jpg|SebArt Wind S 50E R. Maurer Bottighofen - Switzerland.
Image:Cougar.JPG|Cougar R. Büttner Meilen - Switzerland.
Image:UofA_UAP1.jpg|Senior Telemaster [http://paparazzi.enac.fr/wiki/UAlberta_UASGroup U of A UAS Group] Edmonton - Canada.
Image:High_Performance_Flying_Wing.JPG|Flying Wing T. Habermacher Zürich - Switzerland.
Image:Mentor_Wasserflug_2.jpg|Multiplex Mentor with floats R. Maurer Bottighofen - Switzerland.
</gallery>
|

|}

==Video==

[http://www.youtube.com/watch?v=M1k_TLcQ2ic Micro UAV climbing to 1500m on Spitsbergen/Arctic]

[http://www.youtube.com/user/aerovistapunktch#p/u/3/7OCcMA4vluM Desktop Record GCS Y-UAV]

[http://www.youtube.com/user/aerovistapunktch#p/u/1/o6auxzO93lU Bungee Launch Y-UAV]

[http://www.youtube.com/watch?v=7WyNxjZjn90 first parachute recovery testing of X8]

[http://www.youtube.com/watch?v=7B_F1CzGToM Easyglider goes for a bombing run]

[http://www.youtube.com/watch?v=qsYYL3EitQ8 Easyglidercompletely autonomous take off]

[http://www.youtube.com/watch?v=kEyfNS4qOyk&feature=plcp jet with paparazzi onboard]

== Flight competitions ==
=== [http://www.nal.res.in/MAV08/ MAV08] ===
; Agra, India, (March 10th -- 15th, 2008)
Best Mission Performance:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Paparazzi Slicer (ENAC)
* Paparazzi Glass One(s) (Martin Mueller Engineering)
* Paparazzi Dragonfly (University of Arizona)

Best Hover Performance/Rotorcraft:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Indian Institute of Technology, Bombay (IITB)

Best Autonomous Micro Air Vehicle:
* Paparazzi Slicer (ENAC)

Best Exotic Design Micro Air Vehicle:
* Paparazzi Dragonfly (University of Arizona)

Best UGV Performance:
* [http://cmr.mech.unsw.edu.au/mavstar/ MAVSTAR] (UNSW)

{|
|-valign="top"
|
<gallery caption="MAV08, Agra, India">
Image:Slicer.jpg|Slicer ENAC
Image:Glassone.jpg|Glass One 
Image:MAVSTAR.jpg|MAVSTAR 
</gallery>
|}

=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Mueller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|Dragon Slayer Miraterre Flight Systems
Image:Twisted_1413sm.jpg|Twisted Logic Miraterre Flight Systems
Image:Storm1.jpg|Storm1 Murat BRONZ
Image:Pingwing.jpg|Ping Wing Sweden
Image:Tyto.jpg|Tyto Supaero
Image:Redone.jpg|Red One/MAC 07 
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Mueller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindenberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindenberg
Image:ENAC-Planning-MAV06.jpg|ENAC Team
Image:Slayers-MAV06.jpg|Dragon Slayers Slayers acquiring GPS fix 
Image:Michel_vs_Slayer-MAV06.jpg|Catch! Michel bravely catching the Slayer in an autonomous landing 
Image:BYU-MAV06.jpg|BYU's Winning Design BYU used the Procerus Kestrel autopilot 
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|The Paparazzi teams in Garmisch
Image:mav05_dragonfly.jpg|Dragonfly ''University of Arizona''
Image:mav05_depronazzi.jpg|Glotzer ''Martin Mueller and Christian Lindenberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|The Paparazzi team
Image:emav04_02.jpg|Spectators
Image:emav04_03.jpg|Automatic tracking antenna
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
|}

== Scientific campaigns ==

=== FLOHOF 2007 ===
; Around the Hofsjökull glacier, Iceland, (August 2007)
{|
|-valign="top"
|
<gallery caption="FLOHOF 2007, Iceland">
Image:Kerlingafjoll.jpg|Flying southwest of the glacier
Image:High_alt.png|Climb slope
</gallery>
|}

=== THORPEX/Svalbard 2008 ===
; On and around Svalbard, Arctic Sea, (February 25th - March 15th, 2008)
{|
|-valign="top"
|
<gallery caption="THORPEX 2008, Svalbard">
Image:Kv_svalbard_ice.jpg|KV Svalbard
Image:Hangar.jpg|The KV Svalbard hangar
Image:Funjet_spitsbergen.jpg|Flying over the icy sea near Spitsbergen
Image:Waves.jpg|Waves in rough sea
Image:Breaking_ice.jpg|Breaking the ice
Image:Longyearbyen.jpg|Preparing the aircraft
Image:Landing_spitsbergen.jpg|Landing near Longyearbyen
</gallery>
|}

[[Category:Community]]

Users

2012-11-15T07:19:13Z

Hendrix: /* Europe */

Please add yourself to this list if you wish to share who you are and what you are doing with Paparazzi

== Wiki User Pages ==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ User Pages
|-
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Dconger Dconger]
|[http://paparazzi.enac.fr/wiki/User:MarcusWolschon MarcusWolschon]
|[http://paparazzi.enac.fr/wiki/User:Alfamyke Alfamyke]
|[http://paparazzi.enac.fr/wiki/User:Danstah Danstah]
|[http://paparazzi.enac.fr/wiki/User:Martinmm Martinmm]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:John_Burt John Burt]
|[http://paparazzi.enac.fr/wiki/User:SilaS SilaS]
|[http://paparazzi.enac.fr/wiki/User:Mecevans Mecevans]
|[http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU-FCUAV]
|[http://paparazzi.enac.fr/wiki/User:GPH Pierre-Selim]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Martinpi martinpi]
|[http://paparazzi.enac.fr/wiki/User:VAMK VAMK]
|[http://paparazzi.enac.fr/wiki/User:EldenC Elden_Crom]
|[http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison]
|[http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Marc Marc]
|[http://paparazzi.enac.fr/wiki/User:Bu5hm4nn Bu5hm4nn]
|[http://paparazzi.enac.fr/wiki/User:HWal HWal]
|[http://paparazzi.enac.fr/wiki/User:Aerodolphin Rui Costa]
|[http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:PaulCox Paul Cox]
|[http://paparazzi.enac.fr/wiki/User:Bruzzlee Bruzzlee]
|[http://paparazzi.enac.fr/wiki/User:Stspies Stspies]
|[http://paparazzi.enac.fr/wiki/User:Mzr Mzr]
|[http://brquad.blogspot.com AGRESSiVA]
|- style="background:bisque; color:black"
|add yourself here
|[http://paparazzi.enac.fr/wiki/User:Martial Martial Châteauvieux]
|[http://paparazzi.enac.fr/wiki/User:Christoph Christoph]
|
|
|}

== Developers ==
See [[Developers]]

== Paparazzi Users sorted geographically ==

===Asia===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Asia
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:wzxwyvippt@126.com WANGYAO]|| China || UMARIM,twog,tiny2.11 lisa/m2.0 ||| 2008|| fly with lisa/m2.0 now, fully auto takeoff and landing
|- style="background:bisque; color:black"
| [mailto:zhaojinhust@gmail.com ZHAOJin]|| China || Tiny2.11 ||| 2011|| Just Finished my hand-soldered Tiny2.11 board. Welcome to my blog: freikorps.blogcn.com (CHINESE中文)
|- style="background:bisque; color:black"
| [mailto:wangcfan@163.com Wangcfan]|| China || Tiny2.11 ||| 2008 || The beginning, is now in learning phase;Learning in Tiny2.11 using the method of IMU!
|- style="background:bisque; color:black"

| [mailto:mnwxiaobao@gmail.com MNW]|| China || Tiny2.11 ||| 2009 || Just starting,having troubles with parts.
|- style="background:bisque; color:black"
| [mailto:shubhamearly@gmail.com Shubham]|| India || Tiny2.11 ||| 2009 || Writing the configuration code for airframe
|- style="background:bisque; color:black"
| [mailto:mundhra@gmail.com M Mundhra] || India || Tiny 1.3 ||| 2007 || Gain tuning on a flying wing configuration airframe
|- style="background:bisque; color:black"
| [mailto:ngkiangloong_at_hopetechnik.com Jianlun]|| Singapore || TWOG V1 ||| 2008 || trying to get TWOG onto an EasyStar. very much a newbie!
|- style="background:bisque; color:black"
| [mailto:praxmail@gmail.com prashanth] || India || Tiny 2.11 ||| 2008 || 6 autonomous flights till now, currently build a new wing like funjet
|- style="background:bisque; color:black"
| [mailto:spencerpangborn@gmail.com spencer] || Taipei, Taiwan || none ||| 2009 || research for now, hope to take aerial photos of Taipei City soon
|- style="background:bisque; color:black"
| [mailto:benybeejz@gmail.com benybee] || Bandar Lampung, Indonesia || Tiny13 1.1 ||| 2010 || trying to get wing dragon fully autonomus, for aireal photograph and research
|- style="background:bisque; color:black"
| [mailto:anilvanjare83@gmail.com Anil vanjare] || India || TWOG, Tiny v2.1,Umarim v10 ||| 2011 || ,Umarim board assembled and tested all are ok on ground, now building a MAV to do test flight using UMARIM, with prashant
|}

===Europe===
{| class="wikitable" style="text-align:center;background:black; color:blue"

! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:lightgreen; color:black"
|Austria

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Martinpi Martin Piehslinger] || Vienna, Austria || Tiny 2.11 || 2008 || just starting

|- style="background:bisque; color:black"
| [mailto:st.jr_at_gmx.at TomS] || Graz, Austria || Tiny 2.11 ||| 2008 || Starting to complete the wiring for the tiny and then trying to apply it to my TwinStar II.

|- style="background:lightgreen; color:black"
|France

|- style="background:bisque; color:black"
| [mailto:x-microdrones@2007.polytechnique.org X-MicroDrones] || Paris, France || Tiny 2.11, Quad-Tilt-Rotor VTOL ||| 2008 || Wiring completed, first flights soon... We're trying to adapt Paparazzi to a Quad-Tilt-Rotor VTOL able to perform both airplane-like and helicopter-like flights. Working on inertial measurement units implementation.

|- style="background:bisque; color:black"
| [mailto:pvol_at_club.fr Philippe Volivert] || Paris, France || TWOG 2.12, EasyGlider, MPX3030 ||| July 2009 || Working on pan/tilt/roll camera

|- style="background:bisque; color:black"
| [mailto:thibaut.bergal@estaca.eu ESTACA Modélisme] || Paris, France || TWOG 2.11, Swift 2, MC22 ||| January 2010 || Starting

|- style="background:bisque; color:black"
| [mailto:limaiem@gmail.com Imed Limaiem] || Paris, France || TWOG 2.11, EPP-CF FPV ||| January 2010 || flight test; Town pollution measurement;

|- style="background:bisque; color:black"
| [mailto:pauldanielcox_at_gmail_dot_com Paul Cox]
| Toulouse
| Tiny v2.11 || Nov. 2008 || GWS Slow Stick flying in AUTO2 reliably. Starting on stabilized video and payload drops Skype: pauldanielcox Gtalk: [use email]

|- style="background:bisque; color:black"
| [mailto:charles-edmond.bichot@ec-lyon.fr Charles-Edmond Bichot] || Lyon, France || Tiny/YAPA, IR+GPS, XBee/smartphone ||| September 2009 || Teaching projects, solar cells, object detection in video / image

|- style="background:lightgreen; color:black"
|Germany

|- style="background:bisque; color:black"
| [mailto:maik.hoepfel_at_web.de Maik Hoepfel] || Berlin, Germany || TWOG, Borjet Maja, Futaba 9C 35 Mhz ||| August 2009 || Have flown different airframes and am flying a Borjet Maja right now; built a more rugged case and connecting board for PPRZ; taking surveying pictures

|- style="background:bisque; color:black"
| [[User:MarcusWolschon|Marcus Wolschon]] || Freiburg, Germany || Gumstix, Paraplane ||| 2008 || Porting Paparazzi to Linux-Userland with UDP-communication using mesh-networking.
UDP-Downlink working, GPS via GPSD working, Pararazzi in Linux working, Hardware still RC-only due to sensor-soldering-issues

|- style="background:bisque; color:black"
| [[User:Flixr|Felix Ruess]] || Munich, Germany || Lisa/M, Lisa/L, Booz, Twog ||| 2008 || coding more than flying.... unfortunately

|- style="background:bisque; color:black"
| [[User:TheJJ|Jonas Jelten]] || Augsburg, Germany || just our airframe ||| 2010 || "P-Seminar" for the new G8 at our Gymnasium ([http://www.solarflugzeug.de.tc solarflugzeug.de.tc])

|- style="background:bisque; color:black"
| [[User:Christoph|Christoph Niemann]] || Bremen, Germany || Reely Condor with TWOG and Sparkfun Razor-IMU ||| 2010 || Several successful AUTO2-Flights.

|- style="background:bisque; color:black"
| [[User:Martial|Martial Châteauvieux]] || Munich, Germany || Bormatec/Maja with TWOG and IR ||| 2011 || Next test in January 2012, as soon as the weather permits. Hopefully I can switch in AUTO2.
|- style="background:bisque; color:black"
| [[User:Stspies|Steffen Spies]] || Wolfsburg, Germany || Multiplex TwinStar with Tiny V2.11 and IR ||| 2010 || Awaiting first flight.

|- style="background:bisque; color:black"
| [[User:Tobi|Tobias M]] || Germany || Multiplex TwinStar II TWOG v1 and IR/imu ||| 2007 || about 120h of flight tests in Auto2 with IR - coding and testing a new vertical control with airspeed - just changed from IR to Aspirin imu - about 3h Auto2 in that configuration

|- style="background:bisque; color:black"
| [[User:RoN|Rolf N]] || Bremen, Germany || Multiplex Acromaster with TWOG, airspeed and imu ||| 2010 || Several successful AUTO2 flights

|- style="background:bisque; color:black"
| [mailto:rijo1011_at_gmail.com Jochen Rieger] || Karlsruhe, Germany || Bormatec Maja, Lisa/L ||| 2011 || I hope the first flight is coming soon.

|- style="background:lightgreen; color:black"
| Portugal

|- style="background:bisque; color:black"
| [mailto:azoreanuav_at_gmail.com Rui Costa] || Azores, Portugal || Outrunner Twinstar II with Tiny 2.11, Aerocomm datalink, 1W video tx ||| 2008 || Only ground test and software configuration.

|- style="background:bisque; color:black"
| [mailto:muralha_at_gmail.com Nuno Guedes] || Lamego, Portugal || Tiny 2.11 || 2008 || Starting

|- style="background:lightgreen; color:black"
|Switzerland

|- style="background:bisque; color:black"
| [mailto:markggriffin_at_gmail.com MarkG] || Geneva, Switzerland || Modified Tiny v2.11, TWOG v1, EeePC as GCS, Multiplex FunJet & EasyStar ||| 2008 || Many successful flights.

|- style="background:bisque; color:black"
| [mailto:spam1_at_marzer.com CedricM] || Geneva, Switzerland || Tiny 2.11, Multiplex FunJet with video camera ||| 2008 || Many successful flights working on an osd module and weather probes.

|- style="background:bisque; color:black"
| [mailto:reto.buettner_at_gmail.com RetoB] || Meilen, Switzerland || TWOG, Tiny 2.11, Cougar, eHawk, Y-UAV, EzOSD, Scherrer UHF ||| 2010 || Many successful flights. See [http://www.aerovista.ch/news.html www.aerovista.ch] and [http://www.y-uav.com www.y-uav.com] for current status.

|- style="background:bisque; color:black"
| [mailto:schmiemi_at_students.zhaw.ch EmilioS] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Borjet Maja, UMARS||| 2010 || Many successful flights. See [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html UMARS] for current status.

|- style="background:bisque; color:black"
| [mailto:enso@zhaw.ch Oliver E] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Kyosho Calmato, UMARS||| 2010 || Many Successful flights. A lot of experience as savety pilot. Experience with pich based speed control (best you can have). No programming skills unfortuanatley.

|- style="background:bisque; color:black"
| [mailto:samuelbryner_gmx.ch Samuel B.] || Winterthur, Switzerland || Tiny 2.11, Multiplex Easyglider ||| 2010 || Just starting. No flight so far :/

|- style="background:bisque; color:black"
| [mailto:rmaurer@sunrise.ch RetoM] || Bottighofen, Switzerland || YAPA2/SparkFun-SEN-10121-6DOF-IMU, Multiplex Mentor, SebArt Wind S 50E ||| 2011 || Many flights successfully performed, including autostart/autolanding, many more to go ...

|- style="background:bisque; color:black"
| [mailto:sjwilks_at_gmail.com Simon W.] || Aarau, Switzerland || TWOG with ArduIMU in Jamara Roo, TWOG on a Telink Tempest flying wing, YAPA2 on a Bormatec Maja, Lisa/L on a Droidworx AD-8 HL ||| 2010 || Many successful flights. See [http://sites.google.com/site/paparazziuav/ http://sites.google.com/site/paparazziuav/].

|- style="background:lightgreen; color:black"
| UK

|- style="background:bisque; color:black"
| [mailto:et@onyxnet.co.uk Alan K] || Middlesbrough, England || Tiny 2.11 & MaxStream ||| 2008 || Just starting.

|- style="background:bisque; color:black"
| [[User:G R|Gareth R]] || Sheffield, UK || Tiny 2.11, video, bunch of helicopters, Multiplex Mentor, Multiplex Funjet, Multiplex Fox, GWS Formosa ||| 2008 || Came 4th in EMAV09 (although won the Golden Balls award for courage in the face of adversity and exceptional partying). Many AUTO2 flights with a camera and XBee868s. Current main airframe is a GWS Formosa (they are so cheap!).

|- style="background:lightgreen; color:black"
| Other

|- style="background:bisque; color:black"
| [mailto:silas_at_silas.hu SilaS] || Budapest || Tiny 1.3,2.11, Twog 1.0 ||| 2007 || Applied tiny to GWS Estarter, finished long travels in AUTO2. Now transfert it to a Twinstar and working on pairing tiny with FPV. Successfull. Now using it on large gliders and jets.

|- style="background:bisque; color:black"
| [[ email = hendrix at gmail dot gr| Chris Efstathiou]] || Piraeus Hellas || tiny 2.11 on a Mpx EasyGlider, TWOG 1.3 on a Boomerang turbine jet, and my newest toy a X8 with a Canon camera ||| 2008 || The Easyglider is fully operational, still working on the jet which had his first flight with the TWOG at 25/1/2009

|- style="background:bisque; color:black"
| [[User:openuas|OpenUAS]] || Amsterdam, The Netherlands || TWOG, Tiny, Lisa/L and various airframes || 2007 || Quite a few AUTO2 flights. Improving airspeed, IMU and strong wind integration

|- style="background:bisque; color:black"
| [mailto:sanarlab@yandex.ru Andrew Saenko] || Russia, St-Petersburg || Tiny 1.13, Tiny 2.11, two own hardware designs, 5 kg aerial photo plane, 2.5 kg survelliance uav, Easystar ||| 2007 || Use modified autopilot and GCS in professional tasks, add self desidned IMU

|- style="background:bisque; color:black"
| [mailto:chebuzz_at_gmail.com David "Buzz" Carlson] || Cyprus || Tiny 2.11, Lynx EDF & GWS SloStick, 9XTend datalink ||| 2008 || Quite a few AUTO2 flights. Plane currently grounded due to a TX run-in with a 1 year-old. Currently working on getting new TX and completing CBP store setup.

|- style="background:bisque; color:black"
| [mailto:kostalexis@ece.upatras.gr AneMos-Group] || Patras, Greece || Tiny 2.11, Quadrotor VTOL ||| 2008 || Working on IMU, Trying to implement Constrained Control for the quadrotor trajectory flight

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:VAMK Allan Ojala (VAMK)] || Vaasa, Finland || TWOG, with AC4790 radio and LEA-5H GPS ||| 2009 || Ditched the SIG Kadet. Built a new big plane TaigaCam. Self-build model made out of EPP and a plastic tube.

|- style="background:bisque; color:black"
| [mailto:alexandru.panait@ral.ro Phineas] || Bucharest, Romania || Tiny2.11 (PPZUAV) ||| November 2009 || Just started to set-up

|- style="background:bisque; color:black"
| [mailto:lukeiron@hotmail.com Luke] || Torino, Italy || TWOG ||| December 2009 || Close to mount the AP on my Mentor
|

|- style="background:bisque; color:black"
| [mailto:helgewal@gmail.com Helge] || Bergen, Norway || TWOG ||| 2009 || First Auto2 flight with Twinstar2 in October 2010

|- style="background:bisque; color:black"
| [mailto:kepler0@gmail.com Joaquín] || Málaga, Spain|| TWOG v1, Trex600, Cockpit SX, ArduImuV2, HMC5843 ||| September 2009 || Finished integration (navigation, control, actuators). Missing to realize an automatic engine control.
|}

===North America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Mcurrie Matthew Currie] || Nanaimo, BC Canada || Tiny 13 v1.1 (Self-built) ||| November 2006 || Funjet + XBee

|- style="background:bisque; color:black"
| [mailto:quill_at_u.washington.edu John Burt] [http://paparazzi.enac.fr/wiki/User:John_Burt wiki page]|| Portland, Oregon || Tiny v2.11 + LEA-4H (PPZUAV), Multiplex Cularis/Easystar, 9Xtend modem, T7CAP TX, ground station: EEE PC701 and/or Nokia N810 ||| Jan 2009 || Initial flight tests w/ Easystar in AUTO1 & AUTO2.

|- style="background:bisque; color:black"
| [mailto:ogar0007@umn.edu Pat O'Gara] || St. Paul, MN || Tiny 2.11 and TWOG (PPZUAV) |||Oct. 2008 || Completed and flown FunJet and Minimag in Auto 2. Currently rebuilding MiniMag as an improved development platform.

|- style="background:bisque; color:black"
| [mailto:kochesj@gvsu.edu John Koches] || Muskegon, Michigan || Tiny 2.11 (PPZUAV) ||| 2007 || currently flying a 48 inch zagi, 80 inch under construction.

|- style="background:bisque; color:black"
| [mailto:Stdeguir@gmail.com Steve Deguir] || New York, New York || Tiny2.11+LEA-5H (PPZUAV), XbeePro 2.4, Berg4L, JR FMA ||| Feb 2009 ||

|- style="background:bisque; color:black"
| [mailto:bmw330i@me.com David Conger] || San Diego (Ramona), California || Tiny1.3 (PPZUAV) ||| Sept 2007 || Flying Wing MAV with onboard video. Test platform for the new 900mhz XBPro 900 RF modems.

|- style="background:bisque; color:black"
| [mailto:mecevans@gmail.com Michael Evans] || Seaside(Monterey Bay), California || Tiny2.11 (PPZUAV) ||| Feb 2009 ||http://www.rcgroups.com/forums/showthread.php?t=1000937.

|- style="background:bisque; color:black"
| USU AggieAir Remote Sensing || Logan, UT || TWOG (PPZUAV) ||| January 2009 || Building 72" Flying Wings which will be used for remote sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://www.engr.usu.edu/wiki/index.php/OSAM USU OSAM-UAV] || Logan, UT || TWOG (PPZUAV) ||| June 2007 || 2x72" 5x48" 1x60" Flying Wings. Research backyard for AggieAir Remote Sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU Fuel Cell UAV] || Fort Collins, Co || Tiny 2.11 + LEA-5H (PPZUAV), 2.4Ghz XBPro ||| Mar 2009 || Maiden flight complete Feb 28. New Airframe in development.

|- style="background:bisque; color:black"
| [mailto:armz12@gmail.com Armen Gharibans] || La Jolla, California || Tiny2.11 (PPZUAV) ||| March 2009 || UCSD Project with Multiplex Mentor. Completed August 2, 2009. Several Successful Auto2 Flights. A LOT of help from David Conger.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:EldenC Elden Crom] || Tucson, AZ || Twog 1.0 ||| July 2009 || Multiplex Twinstar, XBee Pro. Several Successful Auto2 Flights. Working toward precise Auto-Takeoff and Auto-Land

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider] || Tucson, AZ || None, will use TWOG 1.0 ||| December 2009 || Super Dimona, Aerocomm. No Flight test. Working toward setting waypoints within Paparazzi code

|- style="background:bisque; color:black"
| [Reegan] || Lubbock, TX || Planning on Tiny 2.11 (PPZUAV), 900mhz XBPro |||Dec. 2009 || Gaining info to begin a collegiate project

|- style="background:bisque; color:black"
| Team UAV UALR Caleb Tenberge || Little Rock, AR || Using TWOG 1.0 ||| Feb 2010 || Using a Telemaster, we are learning the GCS and building our plane.

|- style="background:bisque; color:black"
| [mailto:changho.nam@asu.edu Arizona State University POLY - Capstone Team: Development of UAV /w surveillance System] || Mesa, AZ || Using TINY 2.1 - 2.4GHz Modem, CCD Camera /w 900 MHz Video Transmitter ||| March 2010 || 4-lbs Flying Wings. We made successful autonomous flights.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer] || Edmonton, AB, CAN || Nothing Yet ||| Jan 2011 || Obtaining Hardware

|- style="background:bisque; color:black"
| [mailto:muratagenc@yahoo.com Murat A. Genc] || New York, NY || not decided yet ||| May 2011 || just started

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/UAlberta_UASGroup University of Alberta UAS Group] || Edmonton, AB, CAN || TWOG 1.0, Asprin IMU ||| Aug 2011 || Completing tuning flights in Auto 1 on a Senior Telemaster with 26cc gas engine. Working towards a stable platform for research.

|- style="background:bisque; color:black"
| [mailto:piotr@esden.net Piotr Esden-Tempski] || Santa Cruz, CA || Lisa/L, Lisa/M, Aspirin, Quadshot, Rotorcraft ||| 2009 || Software and Hardware development as well as [http://thequadshot.com The Quadshot]

|- style="background:bisque; color:black"
| [http://clubs.asua.arizona.edu/~mavclub University of Arizona MAV] || Tucson, AZ || Lisa/M 2.0, Aspirin v2.0, uBlox MAX-6Q, XBee 900 Pro/868LP, Mini-Vertigo ||| 2005 || University of Arizona Micro Air Vehicle Club (competing in IMAVs with Paparazzi since 2003.)

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Cwozny Chris Wozny] || Nashua, New Hampshire || Lisa/M, Aspirin ||| 2008 || Currently building quadcopter around Lisa/M 2.0 platform.

|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===Central America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:joschau@comcast.net Joekadet] || David Panama' || Tiny v2.11/LEA-4P, RF Modems XBee Pro 2.4 GHz (PPZUAV). Multiplex Mentor ||| 2008 || Seven flights now. Flights 6 & 7 in Auto2. Now only a matter of fine tuning.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===South America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:gustavoviolato@gmail.com Gustavo Violato] || São José dos Campos, Brasil || Tiny v2.11/LEA-4P, Modem XBee Pro 2.4 GHz Swift II ||| 2009 || Flying autonomously and enjoying it. Planning to use the system for flight test data acquisition and aircraft parameter recognition.
|- style="background:bisque; color:black"
| [mailto:agressiva@hotmail.com Eduardo Lavratti] || Porto Alegre - RS, Brasil || TWOG / BOOZ / LISA-M, UBLOX, Xbee900 60mw||| 2011 || Working with geoprocessing - developping new modules and sensors to paparazzi. [http://brquad.blogspot.com ACCENT AERiALS]
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===Australia===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:RH1N0 RH1N0] || Brisbane, QLD || TWOG, Multiplex Easystar, PPZGPS, H.264 live digital video, Ubiquiti modems ||| May 2011 || Multiple AUTO2 flights up to 40 min. Currently testing PPZIMU.
|- style="background:bisque; color:black"
| [mailto:todd_soaring@yahoo.com.au Todd Sandercock] || Adelaide, SA || Tiny v2.11, Multiplex Twinjet, 9Xtend modems ||| Jan 2008 || Completed successful flight testing. Now designing new airframe.
|- style="background:bisque; color:black"
| [mailto:reubenb87@gmail.com Reuben Brown]|| Gawler, SA || Tiny v2.11 ||| May 2009 || Getting the autopilot set up
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison] || Neutral Bay, NSW || Tiny v2.11, Vertical + Horizontal IR sensors, XBee PRO modems, Futaba T6EXAP TX, Futaba R136F RX, Funjet, MacBook laptop ||| August 2008 || Several flights in Auto1
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rufus Chris Gough] || Canberra || TWOG v2.11, EZ* || September 09 || not yet airborn
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Adam.A Adam Amos] || Sydney, NSW || TWOG, IMU, BORJET MAJA || March 2010 || see [http://www.rescuerobotics.com.au www.rescuerobotics.com.au] for current status
|}

===Africa===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:w1_th@yahoo.com W1th] || South Africa KZN || TWOG V1 ,LEA-5H GPS , RF Modems XBee Pro 868 (CheBuzz) ||| July 2009 || Got TWOG,GPS etc interfacing with Laptop and working , Have not done anything to it recently but...Made a website [http://sites.google.com/site/scarfclub/paparazi-uav SCARF Paparazzi-UAV] of my struggle ...
|- style="background:bisque; color:black"
| [mailto:willie.smit@nwu.ac.za Willie Smit] || South Africa NW || Tiny v2.11, LEA-4P GPS, RF Modems XBee Pro ||| April 2010 || We are currently doing test flights. Also doing research on obstacle avoidance.
|- style="background:bisque; color:black"
|}

==Need help adding your information?==
To have your information added by another paparazzi user, please send me an [http://www.rcgroups.com/forums/showpost.php?p=6575288&postcount=1 EMAIL] at with the
following:

*Name
*Email
*Location
*Hardware
*Join date
*Current activities / project status

[[Category:Community]]

GCS

2011-10-13T20:39:10Z

Hendrix: /* Video Plugin */

Ground Control Station

{|
|-valign="top"
|__TOC__
|
[[Image:gcs.jpg|frame|right|The Paparazzi Ground Control Station is the heart of the system and the user's primary interaction interface.]]
|}

== Intro ==

The versatile Paparazzi Ground Control Station is an operator control unit ground control software for micro air vehicles. It allows to visualize and control a micro air vehicle during development and operation, both indoors and outdoors. With a flexible software architecture it supports multiple MAV types/autopilot projects. The purpose of the GroundControlStation is real-time monitoring of an UAS.

== Features==

The Paparazzi GroundControlStation is a feature-rich application with fully customizable views, each containing a collection of the most useful interface components for a particular purpose.

* Simultaneous flying multi UAS support
* Multi-system support (multiple procotols, multiple autopilots/projects) by writing a IVY Plugin
* 2D Map capable of displaying Google Satellite, OpenStreetMaps Images and Microsoft Satellite Maps
* Mission planning
* Realtime movable waypoints
* Realtime flightplan adjustments if needed
* System status overview
* Reatime Airframe in Air tuning and calibration
* Supports rotary and fixed-wing e.g. Airplanes, helicopters, coaxial and quadrotors
* Definable Hotkeys for quick simple in the fieled control
* Voice status output
* Full freely configurable GUI layout

== Strips ==

Each A/C has an associated strip that displays information about the A/C and provides buttons for common commands. The strip has the following layout by default. Paparazzi GCS is very flexible and the strip can have more or less buttons according to your configuration.

[[Image:strip.png|Aircraft information strip]]

=== Displayed information ===

* Left: Flight information
* Center: Navigation information
* Right: Navigation control
* Bottom: Custom navigation and setting buttons

=== Actions ===

Every change in the waypoints (position or/and altitude) must be confirmed with the dialog box that appears after the move. A modified waypoint remains animated on the map and the GCS continues to re-send the move request until confirmation is received from the aircraft.
When clicked, the '''Mark''' button places a mark on the map at the A/C position. A snapshot from the video plugin is associated to this mark and can be viewed by moving the mouse over the mark. A click on the mark opens a dialog box allowing to delete the mark.
A click on the colored bar at the top selects the corresponding A/C in the [[#notebook|Notebook]].

== Map ==

[[Image:GCSmap.png|thumb|400px|Sample map showing the various features]]

=== Display ===

The map display contains the following information:
* The A/C track: it can be erased ''via'' the ''Clear track'' option from the A/C menu.
* The A/C label (in clear blue near the A/C) contains the name of the A/C (Plaster), it's altitude (218 m) and it's ground speed (11.99 m/s). This option default is off. It can be activated with the ''A/C label'' option from the A/C menu.
* The carrot (the orange triangle). This is the point the A/C is following during autonomous navigation.
* The waypoints defined in the flight plan (blue diamonds).
* The intended trajectory is shown as a green line, in this example a circle around waypoint 2.
* The default background is black. [[Maps|Maps]] can be loaded to provide navigation reference.
* The camera footprint (the grey polygon) is representative of the swath of land currently seen by the onboard camera. This option default is off. It can be activated with the ''Cam footprint'' option from the A/C menu. see also [[Pan_Tilt_Camera]]
* The WGS84 coordinates of the mouse cursor are displayed at the top right hand corner (43.462019 1.270474).
* A UTM kilometric grid can be added to the background ''via'' the ''UTM grid'' option from the ''Nav'' menu.
* The height Above Ground Level (AGL) displays the ground altitude of the mouse near the geographic position in the top right hand corner. The [http://srtm.usgs.gov/ SRTM] option must be enabled in the ''Nav'' menu and the height data must be downloaded as described [[Maps#Height_Data|here]].

=== Navigation ===

You can pan/zoom the map using the following:
* Pan with the blue arrows on the map or use the arrow keys on the keyboard
* zoom in/out with the mouse scroll wheel, the page up/page down buttons or the small up/down buttons at the top right hand corner where the zoom factor is displayed
* fit the map to the window, in order to see all the waypoints and A/C, with the '''f''' key or the ''Fit'' option from the ''Nav'' menu;
* center the map on an A/C with the ''Center A/C'' option from the corresponding A/C menu.

=== Map Photo Tiles ===
The default black background can be automatically filled with calibrated satellite photo tiles from Openstreetmaps, Google Maps or MS Maps. Note: If you download too much map data from Google into the GCS you may be blocked for downloading further map data for 24 hours. With OpenStreetmaps data and MS data there is no such limitation.
 
See the [[Maps]] page for more info.

=== Waypoint Editing ===

The properties of any waypoint in the currently loaded flight plan can be modified by two methods:
* Drag and drop the waypoints to a new location (a confirmation dialog will appear).
* A single left click on a waypoint opens a dialog box where you can edit the waypoint's coordinates and altitude.

Waypoint edits are sent to the aircraft immediately upon confirmation in the dialog box. The GCS will re-send the data and the waypoint will animate until the aircraft confirms receipt of the move request. New waypoints cannot be added during flight.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on waypoints.

== Notebook ==

The notebook frame contains one page for each running aircraft. Each aircraft page is itself divided into subpages displaying telemetry data and giving access to the autopilot tuning parameters.

Note that the colored tabs at the top of this section allow the user to select among multiple aircraft.

=== Flight Plan ===

<center>
[[Image:GCSfp.png|Flight plan tree]]
</center>

The full tree of the flight plan is given in this page. The current block and the current stage are highlighted. A double-click on a block allows the operator to immediately switch navigation to this block.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on flight plans.

=== Settings ===
<center>
[[Image:GCSsettings.png|Settings tab]]
</center>
The setting page allows the operator to change variable values during flight. The layout of the page is generated from the <tt>dl_settings</tt> section of the settings.xml file, one tab is associated to every section and sub-section.

On each line is displayed (from left to right), the name of the variable, its current value (periodically sent by the A/C), a slider or radio buttons for user input, and commit/undo buttons. Also note, clicking on the current value will send a request to obtain the current value from the aircraft.
 
See the [[Telemetry#Settings|Telemetry]] page for more information on settings.
 
The save button of this tab opens the following popup which proposes to the user to save the current values in the airframe file (according to the <tt>param</tt> attribute in the [[Telemetry#Settings|setttings]] configuration file). The values of the checked rows will be saved in the airframe file (or any other file) for further use. Units (e.g. deg or rad) are taken into account. '''It is recommended to backup the airframe file before overwriting it with this utility''' (even if time-stamped copy of the airframe file is actually automatically done).

Symetrically, the Upload button of this dialog button will send all the checked values of the airframe file to the live aircraft.
<center>
[[Image:Save settings.png|Settings tab]]
</center>

=== PFD ===

[[Image:GCSpfd.png|Primary Flight Display]]

The Primary Flight Display contains an artificial horizon and two scales displaying the current ground speed (left side) and the altitude (right side). Minimum and maximum speeds are shown under and above the speed scale. A click on the scale resets these values to the current speed value.

=== GPS, Infrared, Wind ===

The '''GPS''' page gives the list of satellites tracked by the receiver and their respective signal strengths in dB.
(35 is low, 45 is excellent) and if they are used to compute the fix (green: used, red:not used). This page may help to tune the position of the receiver on the aircraft relatively to other components (e.g. datalink and video transmitters).

The '''Infrared''' page is only used for aircraft not equipped with the vertical infrared sensor. This page reports the required pre-flight calibration value as well as the evolution of the in-flight calibration correction factor (from hybridization with the GPS information).

The '''Misc''' page displays the estimated wind velocity computed by the ground station during flight and relayed back to the aircraft. Wind velocity is estimated by vector addition of the GPS-measured ground speed in many different directions during level flight. This computation may soon be performed by the autopilot instead of the ground station.

== Video Plugin ==

The <tt>-mplayer</tt> option of GCS allows the user to display a video stream in this window. The video window can also be exchanged with the map by clicking anywhere inside the frame or from the menu.
Use the following line in your [[Control_panel.xml|control panel]] to enable the video window.
<tt>path_to_ground_segment/cockpit/gcs -mplayer rtsp://localhost:7070/video -layout appropriate_layout.xml</tt>
Note that a <tt>plugin</tt> widget must be specified in the used layout:
<tt> <widget size="300" name="plugin"/></tt>
A useful example of how to configure the GCS to show video from a USB DVB-T tuner with composite input follows:

If you have an Avermedia DVB-T usb tuner like the Aver-Tv Hybrid Volar HX (Avermedia finally released Ubuntu Linux drivers)
then in order to use the usb tuner as video input to the GCS you have to complete the following steps:

First download and install the drivers and check that the Usb tuner works well by connecting a video signal to the composite input
and then opening a console window and typing:

'''mplayer tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:noaudio'''

Remember to change the "device=/dev/video1" in the above line with whatever your new usb tuner is registered with (if needed).
Type "dmesg" in a console immediately after you connect the usb tuner and you should see a line stating the video device your usb tuner got registered with.
If it says video0 change "device=/dev/video1" with "device=/dev/video0"
Mine is registered as "video1" because "video0" is the built in laptop camera.
If everything is ok then a blue or similar LED on the usb tuner dongle should light up indicating that the tuner driver is loaded
and you should be able to watch the video on the pc screen (no audio yet).
Now close the console and remove the Usb tuner as it is time to configure the control_panel.xml file by editing the GCS command line.
Locate the line in the "control_panel.xml" file, usually located in "/Your Paparazzi directory/conf/" (mine is in "/paparazzi/conf/"),
that starts with "<program name="GCS" command="sw/ground_segment/cockpit/gcs......".
For example let's say that the complete line looks like this:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml">'''

Now add the below line at the end (before the quotes) of the original line:

'''-mplayer 'tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:alsa:adevice=hw.2,0:amode=1:audiorate=48000:forceaudio:volume=100:immediatemode=0''''

The original line should look now like this:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml -mplayer 'tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:alsa:adevice=hw.2,0:amode=1:audiorate=48000:forceaudio:volume=100:immediatemode=0'">'''

The above line is one complete and uninterrupted line but it is just too long to show it in one line here.
Please remember to change the "NTSC" with "PAL" if you do not use the NTSC video system (if your airborne camera is PAL for example).
This will load the mplayer, select the composite video input of the tuner and enable the sound input.
Read the mplayer documentation so you can tweak the resolution etc. later to suit your particular setup.
The resolution above is set to 320x240 here but you can set it to 640x480 by replacing the numbers in the command line above.

Finally you have to add the plugin widget to your GCS layout configuration file.
If you noticed the GCS command line in the "control_panel.xml" file, it has a part that reads "-layout horizontal.xml"
so our layout configuration file is the "horizontal.xml" which is located always in "/Your Paparazzi directory/conf/gcs/"
(mine is in "/paparazzi/conf/gcs/").
Open the file and add or uncomment the below line (in "horizontal.xml" the plugin widget is there but commented out):

'''<widget NAME="plugin" SIZE="300"/>'''

Now the file should look like this:

'''
<rows>
<widget size="500" name="map2d"/>
<columns>
<rows size="375">
<widget size="200" name="strips"/>
</rows>
<widget size="400" name="aircraft"/>
<widget name="alarms"/>
<widget NAME="plugin" SIZE="300"/>
</columns>
</rows>
'''

That's it, Enjoy!!! (Tested in Ubuntu 10.04 LTS but probably the same method should work fine on different versions too.)

See this [http://www.youtube.com/watch?v=7OCcMA4vluM screen capture] as an example of the resulting GCS (Y-UAV).

The <tt>-plugin</tt> option is another way to use the plugin widget: the X subwindow id is given to the provided command:
<tt>path_to_ground_segment/cockpit/gcs -plugin "mplayer video_stream -wid " -layout appropriate_layout.xml</tt>
<tt>path_to_ground_segment/cockpit/gcs -plugin "cvlc video_stream --drawable-xid=" -layout appropriate_layout.xml</tt>
The <tt>--vout-event=3</tt> option can be used for vlc to disable mouse and keyboard events handling

== Altitude graph widget ==
<center>
[[Image:altgraph.png|400px|The GCS with the altitude graph]]
</center>

An altitude graph can be displayed in the GCS by adding the widget ''altgraph'' in the layout configuration (See the [[GCS_Configuration|GCS configuration]] page). An example is provided in conf/gcs/alt.xml. To use this layout add -layout alt.xml to the /conf/control_panel.xml file. This type of layout is more suited to a multi UAV set up. The Papget ruler is a much less intrusive and better tool when you are only flying a single aircraft.

==Papgets==
Graphical objects can be added to 2D maps: text, rule, gauge, buttons, .... These objects are named ''papgets''. The following snapshot
shows an example with buttons (left side), gauges (lower left corner), text (upper right corner) and ruler (right side). This example
has been produced with a layout file provided in the distribution:

.../gcs -layout papgets.xml

<center>
[[Image:papgets.png|516px|A 2D map augmented with papgets]]
</center>

===Telemetry data report===
The easiest way to create a papget displaying telemetry data is to drag&drop a message field from the Messages window onto the 2D map of the GCS. The default rendering is then a string of text. Clicking on it allows the user to change its type (currently text, ruler or gauge) and some of its attributes (color, size, range for a gauge, format for a text ...). A papget can be moved by simply dragging it.

<center>
[[Image:papget_editor.png|Main characteristics of a papget can be dynamically edited]]
</center>

Papgets can be saved in the layout of the GCS (from the Nav menu). The description is saved in an XML file (in <tt>conf/gcs/</tt> folder) which can be manually edited:

<pre>
<papget type="message_field" display="gauge" x="47" y="414">
<property name="field" value="BAT:voltage"/>
<property name="scale" value="0.1"/>
<property name="min" value="0."/>
<property name="max" value="15."/>
<property name="size" value="50."/>
<property name="text" value="Bat(V)"/>
</papget>
</pre>

The file is used later by giving it to the gcs process:

<pre>
.../gcs -layout my_fancy_papgets.xml
</pre>

===Buttons===
In the same way, user buttons from the strip can be dragged&dropped on the 2D map. However, they currently cannot be directly edited, and
attributes changes have to be done in the XML file. Two types of button are provided to jump to a block or to set a value:

<papget type="goto_block" display="button" x="10" y="300">
<property name="block_name" value="Standby"/>
<property name="icon" value="home.png"/>
</papget>
<papget type="variable_setting" display="button" x="10" y="250">
<property name="variable" value="launch"/>
<property name="value" value="1."/>
<property name="icon" value="launch.png"/>
</papget>

===Video===
A video stream can be rendered in a <tt>video_plugin</tt> papget, using the mplayer player:
<papget type="video_plugin" display="mplayer" x="300" y="250">
<property name="video_feed" value="my video source"/>
<property name="width" VALUE="320"/>
<property name="height" VALUE="240"/>
</papget>
or any video player which takes in option the X window id :
<papget type="video_plugin" display="plugin" x="300" y="250">
<property name="command" value="cvlc video_source --drawable-xid="/>
<property NAME="width" VALUE="320"/>
<property NAME="height" VALUE="240"/>
</papget>

===Development===
Graphical appearence of papgets is defined in <tt>sw/lib/ocaml/papget_renderer.ml</tt>. A renderer must implement the Papget_renderer.t class type interface (<tt>canvas_text</tt> is probably the simpler example) and listed in the <tt>renderers</tt> list to be available
in the edit popup box.

The XML configuration is parsed in <tt>sw/ground_segment/cockpit/papgets.ml</tt>: a new created papget identifier must listed here.

== Alarms ==

The alarm window displays a list of recent errors such as:
* Low battery warning
* Low altitude warning
* Autopilot mode changes (i.e. Manual, Auto2)
* Flight plan block changes

These alarms can be provided via the speaker using the [[speech]] function.

== Configuration Options ==
The GCS is highly configurable and modules can be added, removed, or resized as needed. In addition to this the gcs has many command line options which can be used when launching the GCS
 
See the [[GCS_Configuration|GCS configuration]] page for details.

== Simulation of Flightplan ==
Complex flight plans should always be carefully tested prior to flight. See the [[Simulation|simulation]] page for details.

==Related Links:==

[[Category:Software]] [[Category:User_Documentation]]

GCS

2011-10-06T10:26:33Z

Hendrix: /* Video Plugin */

{|
|-valign="top"
|__TOC__
|
[[Image:gcs.jpg|frame|right|The Paparazzi Ground Control Station is the heart of the system and the user's primary interaction interface.]]
|}

== Strips ==

Each A/C has an associated strip that displays information about the A/C and provides buttons for common commands. The strip has the following layout by default. Paparazzi GCS is very flexible and the strip can have more or less buttons according to your configuration.

[[Image:strip.png|Aircraft information strip]]

=== Displayed information ===

* Left: Flight information
* Center: Navigation information
* Right: Navigation control
* Bottom: Custom navigation and setting buttons

=== Actions ===

Every change in the waypoints (position or/and altitude) must be confirmed with the dialog box that appears after the move. A modified waypoint remains animated on the map and the GCS continues to re-send the move request until confirmation is received from the aircraft.
When clicked, the '''Mark''' button places a mark on the map at the A/C position. A snapshot from the video plugin is associated to this mark and can be viewed by moving the mouse over the mark. A click on the mark opens a dialog box allowing to delete the mark.
A click on the colored bar at the top selects the corresponding A/C in the [[#notebook|Notebook]].

== Map ==

[[Image:GCSmap.png|thumb|400px|Sample map showing the various features]]

=== Display ===

The map display contains the following information:
* The A/C track: it can be erased ''via'' the ''Clear track'' option from the A/C menu.
* The A/C label (in clear blue near the A/C) contains the name of the A/C (Plaster), it's altitude (218 m) and it's ground speed (11.99 m/s). This option default is off. It can be activated with the ''A/C label'' option from the A/C menu.
* The carrot (the orange triangle). This is the point the A/C is following during autonomous navigation.
* The waypoints defined in the flight plan (blue diamonds).
* The intended trajectory is shown as a green line, in this example a circle around waypoint 2.
* The default background is black. [[Maps|Maps]] can be loaded to provide navigation reference.
* The camera footprint (the grey polygon) is representative of the swath of land currently seen by the onboard camera. This option default is off. It can be activated with the ''Cam footprint'' option from the A/C menu. see also [[Pan_Tilt_Camera]]
* The WGS84 coordinates of the mouse cursor are displayed at the top right hand corner (43.462019 1.270474).
* A UTM kilometric grid can be added to the background ''via'' the ''UTM grid'' option from the ''Nav'' menu.
* The height Above Ground Level (AGL) displays the ground altitude of the mouse near the geographic position in the top right hand corner. The [http://srtm.usgs.gov/ SRTM] option must be enabled in the ''Nav'' menu and the height data must be downloaded as described [[Maps#Height_Data|here]].

=== Navigation ===

You can pan/zoom the map using the following:
* Pan with the blue arrows on the map or use the arrow keys on the keyboard
* zoom in/out with the mouse scroll wheel, the page up/page down buttons or the small up/down buttons at the top right hand corner where the zoom factor is displayed
* fit the map to the window, in order to see all the waypoints and A/C, with the '''f''' key or the ''Fit'' option from the ''Nav'' menu;
* center the map on an A/C with the ''Center A/C'' option from the corresponding A/C menu.

=== Map Photo Tiles ===
The default black background can be automatically filled with calibrated satellite photo tiles from Openstreetmaps, Google Maps or MS Maps. Note: If you download too much map data from Google into the GCS you may be blocked for downloading further map data for 24 hours. With OpenStreetmaps data and MS data there is no such limitation.
 
See the [[Maps]] page for more info.

=== Waypoint Editing ===

The properties of any waypoint in the currently loaded flight plan can be modified by two methods:
* Drag and drop the waypoints to a new location (a confirmation dialog will appear).
* A single left click on a waypoint opens a dialog box where you can edit the waypoint's coordinates and altitude.

Waypoint edits are sent to the aircraft immediately upon confirmation in the dialog box. The GCS will re-send the data and the waypoint will animate until the aircraft confirms receipt of the move request. New waypoints cannot be added during flight.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on waypoints.

== Notebook ==

The notebook frame contains one page for each running aircraft. Each aircraft page is itself divided into subpages displaying telemetry data and giving access to the autopilot tuning parameters.

Note that the colored tabs at the top of this section allow the user to select among multiple aircraft.

=== Flight Plan ===

<center>
[[Image:GCSfp.png|Flight plan tree]]
</center>

The full tree of the flight plan is given in this page. The current block and the current stage are highlighted. A double-click on a block allows the operator to immediately switch navigation to this block.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on flight plans.

=== Settings ===
<center>
[[Image:GCSsettings.png|Settings tab]]
</center>
The setting page allows the operator to change variable values during flight. The layout of the page is generated from the <tt>dl_settings</tt> section of the settings.xml file, one tab is associated to every section and sub-section.

On each line is displayed (from left to right), the name of the variable, its current value (periodically sent by the A/C), a slider or radio buttons for user input, and commit/undo buttons. Also note, clicking on the current value will send a request to obtain the current value from the aircraft.
 
See the [[Telemetry#Settings|Telemetry]] page for more information on settings.
 
The save button of this tab opens the following popup which proposes to the user to save the current values in the airframe file (according to the <tt>param</tt> attribute in the [[Telemetry#Settings|setttings]] configuration file). The values of the checked rows will be saved in the airframe file (or any other file) for further use. Units (e.g. deg or rad) are taken into account. '''It is recommended to backup the airframe file before overwriting it with this utility''' (even if time-stamped copy of the airframe file is actually automatically done).

Symetrically, the Upload button of this dialog button will send all the checked values of the airframe file to the live aircraft.
<center>
[[Image:Save settings.png|Settings tab]]
</center>

=== PFD ===

[[Image:GCSpfd.png|Primary Flight Display]]

The Primary Flight Display contains an artificial horizon and two scales displaying the current ground speed (left side) and the altitude (right side). Minimum and maximum speeds are shown under and above the speed scale. A click on the scale resets these values to the current speed value.

=== GPS, Infrared, Wind ===

The '''GPS''' page gives the list of satellites tracked by the receiver and their respective signal strengths in dB.
(35 is low, 45 is excellent) and if they are used to compute the fix (green: used, red:not used). This page may help to tune the position of the receiver on the aircraft relatively to other components (e.g. datalink and video transmitters).

The '''Infrared''' page is only used for aircraft not equipped with the vertical infrared sensor. This page reports the required pre-flight calibration value as well as the evolution of the in-flight calibration correction factor (from hybridization with the GPS information).

The '''Misc''' page displays the estimated wind velocity computed by the ground station during flight and relayed back to the aircraft. Wind velocity is estimated by vector addition of the GPS-measured ground speed in many different directions during level flight. This computation may soon be performed by the autopilot instead of the ground station.

== Video Plugin ==

The <tt>-mplayer</tt> option of GCS allows the user to display a video stream in this window. The video window can also be exchanged with the map by clicking anywhere inside the frame or from the menu.
Use the following line in your [[Control_panel.xml|control panel]] to enable the video window.
<tt>path_to_ground_segment/cockpit/gcs -mplayer rtsp://localhost:7070/video -layout appropriate_layout.xml</tt>
Note that a <tt>plugin</tt> widget must be specified in the used layout:
<tt> <widget size="300" name="plugin"/></tt>
A useful example of how to configure the GCS to show video from a USB DVB-T tuner with composite input follows:

If you have an Avermedia DVB-T usb tuner like the Aver-Tv Hybrid Volar HX (Avermedia finally released Ubuntu Linux drivers)
then in order to use the usb tuner as video input to the GCS you have to complete the following steps:

First download and install the drivers and check that the Usb tuner works well by connecting a video signal to the composite input
and then opening a console window and typing:

'''mplayer tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:noaudio'''

If everything is ok then a blue or similar LED on the usb tuner dongle should light up indicating that the tuner driver is loaded
and you should be able to watch the video on the pc screen (no audio yet).
Now close the console and remove the Usb tuner as it is time to configure the control_panel.xml file by editing the GCS command line.
Locate the line in the "control_panel.xml" file, usually located in "/Your Paparazzi directory/conf/" (mine is in "/paparazzi/conf/"),
that starts with "<program name="GCS" command="sw/ground_segment/cockpit/gcs......".
For example let's say that the complete line looks like this:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml">'''

Now add the below line at the end (before the quotes) of the original line:

'''-mplayer 'tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:alsa:adevice=hw.2,0:amode=1:audiorate=48000:forceaudio:volume=100:immediatemode=0''''

The original line should look now like this:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml -mplayer 'tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:alsa:adevice=hw.2,0:amode=1:audiorate=48000:forceaudio:volume=100:immediatemode=0'">'''

The above line is one complete and uninterrupted line but it is just too long to show it in one line here.
Please remember to change the "NTSC" with "PAL" if you do not use the NTSC video system (if your airborne camera is PAL for example).
This will load the mplayer, select the composite video input of the tuner and enable the sound input.
Read the mplayer documentation so you can tweak the resolution etc. later to suit your particular setup.
The resolution above is set to 320x240 here but you can set it to 640x480 by replacing the numbers in the command line above.

Finally you have to add the plugin widget to your GCS layout configuration file.
If you noticed the GCS command line in the "control_panel.xml" file, it has a part that reads "-layout horizontal.xml"
so our layout configuration file is the "horizontal.xml" which is located always in "/Your Paparazzi directory/conf/gcs/"
(mine is in "/paparazzi/conf/gcs/").
Open the file and add or uncomment the below line (in "horizontal.xml" the plugin widget is there but commented out):

'''<widget NAME="plugin" SIZE="300"/>'''

Now the file should look like this:

'''
<rows>
<widget size="500" name="map2d"/>
<columns>
<rows size="375">
<widget size="200" name="strips"/>
</rows>
<widget size="400" name="aircraft"/>
<widget name="alarms"/>
<widget NAME="plugin" SIZE="300"/>
</columns>
</rows>
'''

That's it, Enjoy!!! (Tested in Ubuntu 10.04 LTS but probably the same method should work fine on different versions too.)

See this [http://www.youtube.com/watch?v=7OCcMA4vluM screen capture] as an example of the resulting GCS (Y-UAV).

The <tt>-plugin</tt> option is another way to use the plugin widget: the X subwindow id is given to the provided command:
<tt>path_to_ground_segment/cockpit/gcs -plugin "mplayer video_stream -wid " -layout appropriate_layout.xml</tt>
<tt>path_to_ground_segment/cockpit/gcs -plugin "cvlc video_stream --drawable-xid=" -layout appropriate_layout.xml</tt>
The <tt>--vout-event=3</tt> option can be used for vlc to disable mouse and keyboard events handling

== Altitude graph widget ==
<center>
[[Image:altgraph.png|400px|The GCS with the altitude graph]]
</center>

An altitude graph can be displayed in the GCS by adding the widget ''altgraph'' in the layout configuration (See the [[GCS_Configuration|GCS configuration]] page). An example is provided in conf/gcs/alt.xml. To use this layout add -layout alt.xml to the /conf/control_panel.xml file. This type of layout is more suited to a multi UAV set up. The Papget ruler is a much less intrusive and better tool when you are only flying a single aircraft.

==Papgets==
Graphical objects can be added to 2D maps: text, rule, gauge, buttons, .... These objects are named ''papgets''. The following snapshot
shows an example with buttons (left side), gauges (lower left corner), text (upper right corner) and ruler (right side). This example
has been produced with a layout file provided in the distribution:

.../gcs -layout papgets.xml

<center>
[[Image:papgets.png|516px|A 2D map augmented with papgets]]
</center>

===Telemetry data report===
The easiest way to create a papget displaying telemetry data is to drag&drop a message field from the Messages window onto the 2D map of the GCS. The default rendering is then a string of text. Clicking on it allows the user to change its type (currently text, ruler or gauge) and some of its attributes (color, size, range for a gauge, format for a text ...). A papget can be moved by simply dragging it.

<center>
[[Image:papget_editor.png|Main characteristics of a papget can be dynamically edited]]
</center>

Papgets can be saved in the layout of the GCS (from the Nav menu). The description is saved in an XML file (in <tt>conf/gcs/</tt> folder) which can be manually edited:

<pre>
<papget type="message_field" display="gauge" x="47" y="414">
<property name="field" value="BAT:voltage"/>
<property name="scale" value="0.1"/>
<property name="min" value="0."/>
<property name="max" value="15."/>
<property name="size" value="50."/>
<property name="text" value="Bat(V)"/>
</papget>
</pre>

The file is used later by giving it to the gcs process:

<pre>
.../gcs -layout my_fancy_papgets.xml
</pre>

===Buttons===
In the same way, user buttons from the strip can be dragged&dropped on the 2D map. However, they currently cannot be directly edited, and
attributes changes have to be done in the XML file. Two types of button are provided to jump to a block or to set a value:

<papget type="goto_block" display="button" x="10" y="300">
<property name="block_name" value="Standby"/>
<property name="icon" value="home.png"/>
</papget>
<papget type="variable_setting" display="button" x="10" y="250">
<property name="variable" value="launch"/>
<property name="value" value="1."/>
<property name="icon" value="launch.png"/>
</papget>

===Video===
A video stream can be rendered in a <tt>video_plugin</tt> papget, using the mplayer player:
<papget type="video_plugin" display="mplayer" x="300" y="250">
<property name="video_feed" value="my video source"/>
<property name="width" VALUE="320"/>
<property name="height" VALUE="240"/>
</papget>
or any video player which takes in option the X window id :
<papget type="video_plugin" display="plugin" x="300" y="250">
<property name="command" value="cvlc video_source --drawable-xid="/>
<property NAME="width" VALUE="320"/>
<property NAME="height" VALUE="240"/>
</papget>

===Development===
Graphical appearence of papgets is defined in <tt>sw/lib/ocaml/papget_renderer.ml</tt>. A renderer must implement the Papget_renderer.t class type interface (<tt>canvas_text</tt> is probably the simpler example) and listed in the <tt>renderers</tt> list to be available
in the edit popup box.

The XML configuration is parsed in <tt>sw/ground_segment/cockpit/papgets.ml</tt>: a new created papget identifier must listed here.

== Alarms ==

The alarm window displays a list of recent errors such as:
* Low battery warning
* Low altitude warning
* Autopilot mode changes (i.e. Manual, Auto2)
* Flight plan block changes

These alarms can be provided via the speaker using the [[speech]] function.

== Configuration Options ==
The GCS is highly configurable and modules can be added, removed, or resized as needed. In addition to this the gcs has many command line options which can be used when launching the GCS
 
See the [[GCS_Configuration|GCS configuration]] page for details.

== Simulation of Flightplan ==
Complex flight plans should always be carefully tested prior to flight. See the [[Simulation|simulation]] page for details.

==Related Links:==

[[Category:Software]] [[Category:User_Documentation]]

GCS

2011-10-06T10:23:24Z

Hendrix: /* Video Plugin */

GCS

2011-10-05T19:29:16Z

Hendrix: /* Video Plugin */

{|
|-valign="top"
|__TOC__
|
[[Image:gcs.jpg|frame|right|The Paparazzi Ground Control Station is the heart of the system and the user's primary interaction interface.]]
|}

== Strips ==

Each A/C has an associated strip that displays information about the A/C and provides buttons for common commands. The strip has the following layout by default. Paparazzi GCS is very flexible and the strip can have more or less buttons according to your configuration.

[[Image:strip.png|Aircraft information strip]]

=== Displayed information ===

* Left: Flight information
* Center: Navigation information
* Right: Navigation control
* Bottom: Custom navigation and setting buttons

=== Actions ===

Every change in the waypoints (position or/and altitude) must be confirmed with the dialog box that appears after the move. A modified waypoint remains animated on the map and the GCS continues to re-send the move request until confirmation is received from the aircraft.
When clicked, the '''Mark''' button places a mark on the map at the A/C position. A snapshot from the video plugin is associated to this mark and can be viewed by moving the mouse over the mark. A click on the mark opens a dialog box allowing to delete the mark.
A click on the colored bar at the top selects the corresponding A/C in the [[#notebook|Notebook]].

== Map ==

[[Image:GCSmap.png|thumb|400px|Sample map showing the various features]]

=== Display ===

The map display contains the following information:
* The A/C track: it can be erased ''via'' the ''Clear track'' option from the A/C menu.
* The A/C label (in clear blue near the A/C) contains the name of the A/C (Plaster), it's altitude (218 m) and it's ground speed (11.99 m/s). This option default is off. It can be activated with the ''A/C label'' option from the A/C menu.
* The carrot (the orange triangle). This is the point the A/C is following during autonomous navigation.
* The waypoints defined in the flight plan (blue diamonds).
* The intended trajectory is shown as a green line, in this example a circle around waypoint 2.
* The default background is black. [[Maps|Maps]] can be loaded to provide navigation reference.
* The camera footprint (the grey polygon) is representative of the swath of land currently seen by the onboard camera. This option default is off. It can be activated with the ''Cam footprint'' option from the A/C menu. see also [[Pan_Tilt_Camera]]
* The WGS84 coordinates of the mouse cursor are displayed at the top right hand corner (43.462019 1.270474).
* A UTM kilometric grid can be added to the background ''via'' the ''UTM grid'' option from the ''Nav'' menu.
* The height Above Ground Level (AGL) displays the ground altitude of the mouse near the geographic position in the top right hand corner. The [http://srtm.usgs.gov/ SRTM] option must be enabled in the ''Nav'' menu and the height data must be downloaded as described [[Maps#Height_Data|here]].

=== Navigation ===

You can pan/zoom the map using the following:
* Pan with the blue arrows on the map or use the arrow keys on the keyboard
* zoom in/out with the mouse scroll wheel, the page up/page down buttons or the small up/down buttons at the top right hand corner where the zoom factor is displayed
* fit the map to the window, in order to see all the waypoints and A/C, with the '''f''' key or the ''Fit'' option from the ''Nav'' menu;
* center the map on an A/C with the ''Center A/C'' option from the corresponding A/C menu.

=== Map Photo Tiles ===
The default black background can be automatically filled with calibrated satellite photo tiles from Openstreetmaps, Google Maps or MS Maps. Note: If you download too much map data from Google into the GCS you may be blocked for downloading further map data for 24 hours. With OpenStreetmaps data and MS data there is no such limitation.
 
See the [[Maps]] page for more info.

=== Waypoint Editing ===

The properties of any waypoint in the currently loaded flight plan can be modified by two methods:
* Drag and drop the waypoints to a new location (a confirmation dialog will appear).
* A single left click on a waypoint opens a dialog box where you can edit the waypoint's coordinates and altitude.

Waypoint edits are sent to the aircraft immediately upon confirmation in the dialog box. The GCS will re-send the data and the waypoint will animate until the aircraft confirms receipt of the move request. New waypoints cannot be added during flight.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on waypoints.

== Notebook ==

The notebook frame contains one page for each running aircraft. Each aircraft page is itself divided into subpages displaying telemetry data and giving access to the autopilot tuning parameters.

Note that the colored tabs at the top of this section allow the user to select among multiple aircraft.

=== Flight Plan ===

<center>
[[Image:GCSfp.png|Flight plan tree]]
</center>

The full tree of the flight plan is given in this page. The current block and the current stage are highlighted. A double-click on a block allows the operator to immediately switch navigation to this block.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on flight plans.

=== Settings ===
<center>
[[Image:GCSsettings.png|Settings tab]]
</center>
The setting page allows the operator to change variable values during flight. The layout of the page is generated from the <tt>dl_settings</tt> section of the settings.xml file, one tab is associated to every section and sub-section.

On each line is displayed (from left to right), the name of the variable, its current value (periodically sent by the A/C), a slider or radio buttons for user input, and commit/undo buttons.
 
See the [[Telemetry#Settings|Telemetry]] page for more information on settings.
 
The save button of this tab opens the following popup which proposes to the user to save the current values in the airframe file (according to the <tt>param</tt> attribute in the [[Telemetry#Settings|setttings]] configuration file). The values of the checked rows will be saved in the airframe file (or any other file) for further use. Units (e.g. deg or rad) are taken into account. '''It is recommended to backup the airframe file before overwriting it with this utility''' (even if time-stamped copy of the airframe file is actually automatically done).

Symetrically, the Upload button of this dialog button will send all the checked values of the airframe file to the live aircraft.
<center>
[[Image:Save settings.png|Settings tab]]
</center>

=== PFD ===

[[Image:GCSpfd.png|Primary Flight Display]]

The Primary Flight Display contains an artificial horizon and two scales displaying the current ground speed (left side) and the altitude (right side). Minimum and maximum speeds are shown under and above the speed scale. A click on the scale resets these values to the current speed value.

=== GPS, Infrared, Wind ===

The '''GPS''' page gives the list of satellites tracked by the receiver and their respective signal strengths in dB.
(35 is low, 45 is excellent) and if they are used to compute the fix (green: used, red:not used). This page may help to tune the position of the receiver on the aircraft relatively to other components (e.g. datalink and video transmitters).

The '''Infrared''' page is only used for aircraft not equipped with the vertical infrared sensor. This page reports the required pre-flight calibration value as well as the evolution of the in-flight calibration correction factor (from hybridization with the GPS information).

The '''Misc''' page displays the estimated wind velocity computed by the ground station during flight and relayed back to the aircraft. Wind velocity is estimated by vector addition of the GPS-measured ground speed in many different directions during level flight. This computation may soon be performed by the autopilot instead of the ground station.

== Video Plugin ==

The <tt>-mplayer</tt> option of GCS allows the user to display a video stream in this window. The video window can also be exchanged with the map by clicking anywhere inside the frame or from the menu.
Use the following line in your [[Control_panel.xml|control panel]] to enable the video window.
<tt>path_to_ground_segment/cockpit/gcs -mplayer rtsp://localhost:7070/video -layout appropriate_layout.xml</tt>
Note that a <tt>plugin</tt> widget must be specified in the used layout:
<tt> <widget size="300" name="plugin"/></tt>
A useful example of how to configure the GCS to show video from a USB DVB-T tuner with composite input follows:

If you have an Avermedia DVB-T usb tuner like the Aver-Tv Hybrid Volar HX (Avermedia finally released Ubuntu Linux drivers)
then in order to use the usb tuner as video input to the GCS you have to complete the following steps:

First download and install the drivers and check that the Usb tuner works well by connecting a video signal to the composite input
and then opening a console window and typing:

'''mplayer tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:noaudio'''

If everything is ok then a blue or similar LED on the usb tuner dongle should light up indicating that the tuner driver is loaded
and you should be able to watch the video on the pc screen (no audio yet).
Now close the console and remove the Usb tuner as it is time to configure the control_panel.xml file by editing the GCS command line.
Locate the line in the "control_panel.xml" file, usually located in "/Your Paparazzi directory/conf/" (mine is in "/paparazzi/conf/"),
that looks similar to the below line:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml">'''

and edit it so it looks like this:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml -mplayer 'tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:alsa:adevice=hw.2,0:amode=1:audiorate=48000:forceaudio:volume=100:immediatemode=0'">'''

The above line is one complete and uninterrupted line but it is just too long to show it in one line here.
(There is a space after the"-tv" like this "-mplayer 'tv:// -tv driver=v4l2:...." but nowhere else after that).
This will load the mplayer, select the composite video input of the tuner and enable the sound input.
Please remember to change the "NTSC" with "PAL" if you do not use the NTSC video system (if your airborne camera is PAL for example).
Read the mplayer documentation so you can tweak the resolution etc. later to suit your particular setup.
The resolution above is set to 320x240 here but you can set it to 640x480 by replacing the numbers in the command line above.

Finally you have to add the plugin widget to your GCS layout configuration file.
If you noticed the GCS command line in the "control_panel.xml" file, it has a part that reads "-layout horizontal.xml"
so our layout configuration file is the "horizontal.xml" which is located always in "/Your Paparazzi directory/conf/gcs/"
(mine is in "/paparazzi/conf/gcs/").
Open the file and add or uncomment the below line (in "horizontal.xml" the plugin widget is there but commented out):

'''<widget NAME="plugin" SIZE="300"/>'''

Now the file should look like this:

'''
<rows>
<widget size="500" name="map2d"/>
<columns>
<rows size="375">
<widget size="200" name="strips"/>
</rows>
<widget size="400" name="aircraft"/>
<widget name="alarms"/>
<widget NAME="plugin" SIZE="300"/>
</columns>
</rows>
'''

That's it, Enjoy!!! (Tested in Ubuntu 10.04 LTS but probably the same method should work fine on different versions too.)

See this [http://www.youtube.com/watch?v=7OCcMA4vluM screen capture] as an example of the resulting GCS (Y-UAV).

The <tt>-plugin</tt> option is another way to use the plugin widget: the X subwindow id is given to the provided command:
<tt>path_to_ground_segment/cockpit/gcs -plugin "mplayer video_stream -wid " -layout appropriate_layout.xml</tt>
<tt>path_to_ground_segment/cockpit/gcs -plugin "cvlc video_stream --drawable-xid=" -layout appropriate_layout.xml</tt>
The <tt>--vout-event=3</tt> option can be used for vlc to disable mouse and keyboard events handling

== Altitude graph widget ==
<center>
[[Image:altgraph.png|400px|The GCS with the altitude graph]]
</center>

An altitude graph can be displayed in the GCS by adding the widget ''altgraph'' in the layout configuration (See the [[GCS_Configuration|GCS configuration]] page). An example is provided in conf/gcs/alt.xml. To use this layout add -layout alt.xml to the /conf/control_panel.xml file. This type of layout is more suited to a multi UAV set up. The Papget ruler is a much less intrusive and better tool when you are only flying a single aircraft.

==Papgets==
Graphical objects can be added to 2D maps: text, rule, gauge, buttons, .... These objects are named ''papgets''. The following snapshot
shows an example with buttons (left side), gauges (lower left corner), text (upper right corner) and ruler (right side). This example
has been produced with a layout file provided in the distribution:

.../gcs -layout papgets.xml

<center>
[[Image:papgets.png|516px|A 2D map augmented with papgets]]
</center>

===Telemetry data report===
The easiest way to create a papget displaying telemetry data is to drag&drop a message field from the Messages window onto the 2D map of the GCS. The default rendering is then a string of text. Clicking on it allows the user to change its type (currently text, ruler or gauge) and some of its attributes (color, size, range for a gauge, format for a text ...). A papget can be moved by simply dragging it.

<center>
[[Image:papget_editor.png|Main characteristics of a papget can be dynamically edited]]
</center>

Papgets can be saved in the layout of the GCS (from the Nav menu). The description is saved in an XML file (in <tt>conf/gcs/</tt> folder) which can be manually edited:

<pre>
<papget type="message_field" display="gauge" x="47" y="414">
<property name="field" value="BAT:voltage"/>
<property name="scale" value="0.1"/>
<property name="min" value="0."/>
<property name="max" value="15."/>
<property name="size" value="50."/>
<property name="text" value="Bat(V)"/>
</papget>
</pre>

The file is used later by giving it to the gcs process:

<pre>
.../gcs -layout my_fancy_papgets.xml
</pre>

===Buttons===
In the same way, user buttons from the strip can be dragged&dropped on the 2D map. However, they currently cannot be directly edited, and
attributes changes have to be done in the XML file. Two types of button are provided to jump to a block or to set a value:

<papget type="goto_block" display="button" x="10" y="300">
<property name="block_name" value="Standby"/>
<property name="icon" value="home.png"/>
</papget>
<papget type="variable_setting" display="button" x="10" y="250">
<property name="variable" value="launch"/>
<property name="value" value="1."/>
<property name="icon" value="launch.png"/>
</papget>

===Video===
A video stream can be rendered in a <tt>video_plugin</tt> papget, using the mplayer player:
<papget type="video_plugin" display="mplayer" x="300" y="250">
<property name="video_feed" value="my video source"/>
<property name="width" VALUE="320"/>
<property name="height" VALUE="240"/>
</papget>
or any video player which takes in option the X window id :
<papget type="video_plugin" display="plugin" x="300" y="250">
<property name="command" value="cvlc video_source --drawable-xid="/>
<property NAME="width" VALUE="320"/>
<property NAME="height" VALUE="240"/>
</papget>

===Development===
Graphical appearence of papgets is defined in <tt>sw/lib/ocaml/papget_renderer.ml</tt>. A renderer must implement the Papget_renderer.t class type interface (<tt>canvas_text</tt> is probably the simpler example) and listed in the <tt>renderers</tt> list to be available
in the edit popup box.

The XML configuration is parsed in <tt>sw/ground_segment/cockpit/papgets.ml</tt>: a new created papget identifier must listed here.

== Alarms ==

The alarm window displays a list of recent errors such as:
* Low battery warning
* Low altitude warning
* Autopilot mode changes (i.e. Manual, Auto2)
* Flight plan block changes

These alarms can be provided via the speaker using the [[speech]] function.

== Configuration Options ==
The GCS is highly configurable and modules can be added, removed, or resized as needed. In addition to this the gcs has many command line options which can be used when launching the GCS
 
See the [[GCS_Configuration|GCS configuration]] page for details.

== Simulation of Flightplan ==
Complex flight plans should always be carefully tested prior to flight. See the [[Simulation|simulation]] page for details.

==Related Links:==

[[Category:Software]] [[Category:User_Documentation]]

GCS

2011-10-05T19:28:38Z

Hendrix: /* Video Plugin */

{|
|-valign="top"
|__TOC__
|
[[Image:gcs.jpg|frame|right|The Paparazzi Ground Control Station is the heart of the system and the user's primary interaction interface.]]
|}

== Strips ==

Each A/C has an associated strip that displays information about the A/C and provides buttons for common commands. The strip has the following layout by default. Paparazzi GCS is very flexible and the strip can have more or less buttons according to your configuration.

[[Image:strip.png|Aircraft information strip]]

=== Displayed information ===

* Left: Flight information
* Center: Navigation information
* Right: Navigation control
* Bottom: Custom navigation and setting buttons

=== Actions ===

Every change in the waypoints (position or/and altitude) must be confirmed with the dialog box that appears after the move. A modified waypoint remains animated on the map and the GCS continues to re-send the move request until confirmation is received from the aircraft.
When clicked, the '''Mark''' button places a mark on the map at the A/C position. A snapshot from the video plugin is associated to this mark and can be viewed by moving the mouse over the mark. A click on the mark opens a dialog box allowing to delete the mark.
A click on the colored bar at the top selects the corresponding A/C in the [[#notebook|Notebook]].

== Map ==

[[Image:GCSmap.png|thumb|400px|Sample map showing the various features]]

=== Display ===

The map display contains the following information:
* The A/C track: it can be erased ''via'' the ''Clear track'' option from the A/C menu.
* The A/C label (in clear blue near the A/C) contains the name of the A/C (Plaster), it's altitude (218 m) and it's ground speed (11.99 m/s). This option default is off. It can be activated with the ''A/C label'' option from the A/C menu.
* The carrot (the orange triangle). This is the point the A/C is following during autonomous navigation.
* The waypoints defined in the flight plan (blue diamonds).
* The intended trajectory is shown as a green line, in this example a circle around waypoint 2.
* The default background is black. [[Maps|Maps]] can be loaded to provide navigation reference.
* The camera footprint (the grey polygon) is representative of the swath of land currently seen by the onboard camera. This option default is off. It can be activated with the ''Cam footprint'' option from the A/C menu. see also [[Pan_Tilt_Camera]]
* The WGS84 coordinates of the mouse cursor are displayed at the top right hand corner (43.462019 1.270474).
* A UTM kilometric grid can be added to the background ''via'' the ''UTM grid'' option from the ''Nav'' menu.
* The height Above Ground Level (AGL) displays the ground altitude of the mouse near the geographic position in the top right hand corner. The [http://srtm.usgs.gov/ SRTM] option must be enabled in the ''Nav'' menu and the height data must be downloaded as described [[Maps#Height_Data|here]].

=== Navigation ===

You can pan/zoom the map using the following:
* Pan with the blue arrows on the map or use the arrow keys on the keyboard
* zoom in/out with the mouse scroll wheel, the page up/page down buttons or the small up/down buttons at the top right hand corner where the zoom factor is displayed
* fit the map to the window, in order to see all the waypoints and A/C, with the '''f''' key or the ''Fit'' option from the ''Nav'' menu;
* center the map on an A/C with the ''Center A/C'' option from the corresponding A/C menu.

=== Map Photo Tiles ===
The default black background can be automatically filled with calibrated satellite photo tiles from Openstreetmaps, Google Maps or MS Maps. Note: If you download too much map data from Google into the GCS you may be blocked for downloading further map data for 24 hours. With OpenStreetmaps data and MS data there is no such limitation.
 
See the [[Maps]] page for more info.

=== Waypoint Editing ===

The properties of any waypoint in the currently loaded flight plan can be modified by two methods:
* Drag and drop the waypoints to a new location (a confirmation dialog will appear).
* A single left click on a waypoint opens a dialog box where you can edit the waypoint's coordinates and altitude.

Waypoint edits are sent to the aircraft immediately upon confirmation in the dialog box. The GCS will re-send the data and the waypoint will animate until the aircraft confirms receipt of the move request. New waypoints cannot be added during flight.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on waypoints.

== Notebook ==

The notebook frame contains one page for each running aircraft. Each aircraft page is itself divided into subpages displaying telemetry data and giving access to the autopilot tuning parameters.

Note that the colored tabs at the top of this section allow the user to select among multiple aircraft.

=== Flight Plan ===

<center>
[[Image:GCSfp.png|Flight plan tree]]
</center>

The full tree of the flight plan is given in this page. The current block and the current stage are highlighted. A double-click on a block allows the operator to immediately switch navigation to this block.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on flight plans.

=== Settings ===
<center>
[[Image:GCSsettings.png|Settings tab]]
</center>
The setting page allows the operator to change variable values during flight. The layout of the page is generated from the <tt>dl_settings</tt> section of the settings.xml file, one tab is associated to every section and sub-section.

On each line is displayed (from left to right), the name of the variable, its current value (periodically sent by the A/C), a slider or radio buttons for user input, and commit/undo buttons.
 
See the [[Telemetry#Settings|Telemetry]] page for more information on settings.
 
The save button of this tab opens the following popup which proposes to the user to save the current values in the airframe file (according to the <tt>param</tt> attribute in the [[Telemetry#Settings|setttings]] configuration file). The values of the checked rows will be saved in the airframe file (or any other file) for further use. Units (e.g. deg or rad) are taken into account. '''It is recommended to backup the airframe file before overwriting it with this utility''' (even if time-stamped copy of the airframe file is actually automatically done).

Symetrically, the Upload button of this dialog button will send all the checked values of the airframe file to the live aircraft.
<center>
[[Image:Save settings.png|Settings tab]]
</center>

=== PFD ===

[[Image:GCSpfd.png|Primary Flight Display]]

The Primary Flight Display contains an artificial horizon and two scales displaying the current ground speed (left side) and the altitude (right side). Minimum and maximum speeds are shown under and above the speed scale. A click on the scale resets these values to the current speed value.

=== GPS, Infrared, Wind ===

The '''GPS''' page gives the list of satellites tracked by the receiver and their respective signal strengths in dB.
(35 is low, 45 is excellent) and if they are used to compute the fix (green: used, red:not used). This page may help to tune the position of the receiver on the aircraft relatively to other components (e.g. datalink and video transmitters).

The '''Infrared''' page is only used for aircraft not equipped with the vertical infrared sensor. This page reports the required pre-flight calibration value as well as the evolution of the in-flight calibration correction factor (from hybridization with the GPS information).

The '''Misc''' page displays the estimated wind velocity computed by the ground station during flight and relayed back to the aircraft. Wind velocity is estimated by vector addition of the GPS-measured ground speed in many different directions during level flight. This computation may soon be performed by the autopilot instead of the ground station.

== Video Plugin ==

The <tt>-mplayer</tt> option of GCS allows the user to display a video stream in this window. The video window can also be exchanged with the map by clicking anywhere inside the frame or from the menu.
Use the following line in your [[Control_panel.xml|control panel]] to enable the video window.
<tt>path_to_ground_segment/cockpit/gcs -mplayer rtsp://localhost:7070/video -layout appropriate_layout.xml</tt>
Note that a <tt>plugin</tt> widget must be specified in the used layout:
<tt> <widget size="300" name="plugin"/></tt>
A useful example of how to configure the GCS to show video from a USB DVB-T tuner with composite input follows:

If you have an Avermedia DVB-T usb tuner like the Aver-Tv Hybrid Volar HX (Avermedia finally released Ubuntu Linux drivers)
then in order to use the usb tuner as video input to the GCS you have to complete the following steps:

First download and install the drivers and check that the Usb tuner works well by connecting a video signal to the composite input
and then opening a console window and typing:

'''mplayer tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:noaudio'''

If everything is ok then a blue or similar LED on the usb tuner dongle should light up indicating that the tuner driver is loaded
and you should be able to watch the video on the pc screen (no audio yet).
Now close the console and remove the Usb tuner as it is time to configure the control_panel.xml file by editing the GCS command line.
Locate the line in the "control_panel.xml" file, usually located in "/Your Paparazzi directory/conf/" (mine is in "/paparazzi/conf/"),
that looks similar to the below line:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml">'''

Then edit it so it looks like this:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml -mplayer 'tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:alsa:adevice=hw.2,0:amode=1:audiorate=48000:forceaudio:volume=100:immediatemode=0'">'''

The above line is one complete and uninterrupted line but it is just too long to show it in one line here.
(There is a space after the"-tv" like this "-mplayer 'tv:// -tv driver=v4l2:...." but nowhere else after that).
This will load the mplayer, select the composite video input of the tuner and enable the sound input.
Please remember to change the "NTSC" with "PAL" if you do not use the NTSC video system (if your airborne camera is PAL for example).
Read the mplayer documentation so you can tweak the resolution etc. later to suit your particular setup.
The resolution above is set to 320x240 here but you can set it to 640x480 by replacing the numbers in the command line above.

Finally you have to add the plugin widget to your GCS layout configuration file.
If you noticed the GCS command line in the "control_panel.xml" file, it has a part that reads "-layout horizontal.xml"
so our layout configuration file is the "horizontal.xml" which is located always in "/Your Paparazzi directory/conf/gcs/"
(mine is in "/paparazzi/conf/gcs/").
Open the file and add or uncomment the below line (in "horizontal.xml" the plugin widget is there but commented out):

'''<widget NAME="plugin" SIZE="300"/>'''

Now the file should look like this:

'''
<rows>
<widget size="500" name="map2d"/>
<columns>
<rows size="375">
<widget size="200" name="strips"/>
</rows>
<widget size="400" name="aircraft"/>
<widget name="alarms"/>
<widget NAME="plugin" SIZE="300"/>
</columns>
</rows>
'''

That's it, Enjoy!!! (Tested in Ubuntu 10.04 LTS but probably the same method should work fine on different versions too.)

See this [http://www.youtube.com/watch?v=7OCcMA4vluM screen capture] as an example of the resulting GCS (Y-UAV).

The <tt>-plugin</tt> option is another way to use the plugin widget: the X subwindow id is given to the provided command:
<tt>path_to_ground_segment/cockpit/gcs -plugin "mplayer video_stream -wid " -layout appropriate_layout.xml</tt>
<tt>path_to_ground_segment/cockpit/gcs -plugin "cvlc video_stream --drawable-xid=" -layout appropriate_layout.xml</tt>
The <tt>--vout-event=3</tt> option can be used for vlc to disable mouse and keyboard events handling

== Altitude graph widget ==
<center>
[[Image:altgraph.png|400px|The GCS with the altitude graph]]
</center>

An altitude graph can be displayed in the GCS by adding the widget ''altgraph'' in the layout configuration (See the [[GCS_Configuration|GCS configuration]] page). An example is provided in conf/gcs/alt.xml. To use this layout add -layout alt.xml to the /conf/control_panel.xml file. This type of layout is more suited to a multi UAV set up. The Papget ruler is a much less intrusive and better tool when you are only flying a single aircraft.

==Papgets==
Graphical objects can be added to 2D maps: text, rule, gauge, buttons, .... These objects are named ''papgets''. The following snapshot
shows an example with buttons (left side), gauges (lower left corner), text (upper right corner) and ruler (right side). This example
has been produced with a layout file provided in the distribution:

.../gcs -layout papgets.xml

<center>
[[Image:papgets.png|516px|A 2D map augmented with papgets]]
</center>

===Telemetry data report===
The easiest way to create a papget displaying telemetry data is to drag&drop a message field from the Messages window onto the 2D map of the GCS. The default rendering is then a string of text. Clicking on it allows the user to change its type (currently text, ruler or gauge) and some of its attributes (color, size, range for a gauge, format for a text ...). A papget can be moved by simply dragging it.

<center>
[[Image:papget_editor.png|Main characteristics of a papget can be dynamically edited]]
</center>

Papgets can be saved in the layout of the GCS (from the Nav menu). The description is saved in an XML file (in <tt>conf/gcs/</tt> folder) which can be manually edited:

<pre>
<papget type="message_field" display="gauge" x="47" y="414">
<property name="field" value="BAT:voltage"/>
<property name="scale" value="0.1"/>
<property name="min" value="0."/>
<property name="max" value="15."/>
<property name="size" value="50."/>
<property name="text" value="Bat(V)"/>
</papget>
</pre>

The file is used later by giving it to the gcs process:

<pre>
.../gcs -layout my_fancy_papgets.xml
</pre>

===Buttons===
In the same way, user buttons from the strip can be dragged&dropped on the 2D map. However, they currently cannot be directly edited, and
attributes changes have to be done in the XML file. Two types of button are provided to jump to a block or to set a value:

<papget type="goto_block" display="button" x="10" y="300">
<property name="block_name" value="Standby"/>
<property name="icon" value="home.png"/>
</papget>
<papget type="variable_setting" display="button" x="10" y="250">
<property name="variable" value="launch"/>
<property name="value" value="1."/>
<property name="icon" value="launch.png"/>
</papget>

===Video===
A video stream can be rendered in a <tt>video_plugin</tt> papget, using the mplayer player:
<papget type="video_plugin" display="mplayer" x="300" y="250">
<property name="video_feed" value="my video source"/>
<property name="width" VALUE="320"/>
<property name="height" VALUE="240"/>
</papget>
or any video player which takes in option the X window id :
<papget type="video_plugin" display="plugin" x="300" y="250">
<property name="command" value="cvlc video_source --drawable-xid="/>
<property NAME="width" VALUE="320"/>
<property NAME="height" VALUE="240"/>
</papget>

===Development===
Graphical appearence of papgets is defined in <tt>sw/lib/ocaml/papget_renderer.ml</tt>. A renderer must implement the Papget_renderer.t class type interface (<tt>canvas_text</tt> is probably the simpler example) and listed in the <tt>renderers</tt> list to be available
in the edit popup box.

The XML configuration is parsed in <tt>sw/ground_segment/cockpit/papgets.ml</tt>: a new created papget identifier must listed here.

== Alarms ==

The alarm window displays a list of recent errors such as:
* Low battery warning
* Low altitude warning
* Autopilot mode changes (i.e. Manual, Auto2)
* Flight plan block changes

These alarms can be provided via the speaker using the [[speech]] function.

== Configuration Options ==
The GCS is highly configurable and modules can be added, removed, or resized as needed. In addition to this the gcs has many command line options which can be used when launching the GCS
 
See the [[GCS_Configuration|GCS configuration]] page for details.

== Simulation of Flightplan ==
Complex flight plans should always be carefully tested prior to flight. See the [[Simulation|simulation]] page for details.

==Related Links:==

[[Category:Software]] [[Category:User_Documentation]]

GCS

2011-10-05T19:26:34Z

Hendrix: /* Video Plugin */

{|
|-valign="top"
|__TOC__
|
[[Image:gcs.jpg|frame|right|The Paparazzi Ground Control Station is the heart of the system and the user's primary interaction interface.]]
|}

== Strips ==

Each A/C has an associated strip that displays information about the A/C and provides buttons for common commands. The strip has the following layout by default. Paparazzi GCS is very flexible and the strip can have more or less buttons according to your configuration.

[[Image:strip.png|Aircraft information strip]]

=== Displayed information ===

* Left: Flight information
* Center: Navigation information
* Right: Navigation control
* Bottom: Custom navigation and setting buttons

=== Actions ===

Every change in the waypoints (position or/and altitude) must be confirmed with the dialog box that appears after the move. A modified waypoint remains animated on the map and the GCS continues to re-send the move request until confirmation is received from the aircraft.
When clicked, the '''Mark''' button places a mark on the map at the A/C position. A snapshot from the video plugin is associated to this mark and can be viewed by moving the mouse over the mark. A click on the mark opens a dialog box allowing to delete the mark.
A click on the colored bar at the top selects the corresponding A/C in the [[#notebook|Notebook]].

== Map ==

[[Image:GCSmap.png|thumb|400px|Sample map showing the various features]]

=== Display ===

The map display contains the following information:
* The A/C track: it can be erased ''via'' the ''Clear track'' option from the A/C menu.
* The A/C label (in clear blue near the A/C) contains the name of the A/C (Plaster), it's altitude (218 m) and it's ground speed (11.99 m/s). This option default is off. It can be activated with the ''A/C label'' option from the A/C menu.
* The carrot (the orange triangle). This is the point the A/C is following during autonomous navigation.
* The waypoints defined in the flight plan (blue diamonds).
* The intended trajectory is shown as a green line, in this example a circle around waypoint 2.
* The default background is black. [[Maps|Maps]] can be loaded to provide navigation reference.
* The camera footprint (the grey polygon) is representative of the swath of land currently seen by the onboard camera. This option default is off. It can be activated with the ''Cam footprint'' option from the A/C menu. see also [[Pan_Tilt_Camera]]
* The WGS84 coordinates of the mouse cursor are displayed at the top right hand corner (43.462019 1.270474).
* A UTM kilometric grid can be added to the background ''via'' the ''UTM grid'' option from the ''Nav'' menu.
* The height Above Ground Level (AGL) displays the ground altitude of the mouse near the geographic position in the top right hand corner. The [http://srtm.usgs.gov/ SRTM] option must be enabled in the ''Nav'' menu and the height data must be downloaded as described [[Maps#Height_Data|here]].

=== Navigation ===

You can pan/zoom the map using the following:
* Pan with the blue arrows on the map or use the arrow keys on the keyboard
* zoom in/out with the mouse scroll wheel, the page up/page down buttons or the small up/down buttons at the top right hand corner where the zoom factor is displayed
* fit the map to the window, in order to see all the waypoints and A/C, with the '''f''' key or the ''Fit'' option from the ''Nav'' menu;
* center the map on an A/C with the ''Center A/C'' option from the corresponding A/C menu.

=== Map Photo Tiles ===
The default black background can be automatically filled with calibrated satellite photo tiles from Openstreetmaps, Google Maps or MS Maps. Note: If you download too much map data from Google into the GCS you may be blocked for downloading further map data for 24 hours. With OpenStreetmaps data and MS data there is no such limitation.
 
See the [[Maps]] page for more info.

=== Waypoint Editing ===

The properties of any waypoint in the currently loaded flight plan can be modified by two methods:
* Drag and drop the waypoints to a new location (a confirmation dialog will appear).
* A single left click on a waypoint opens a dialog box where you can edit the waypoint's coordinates and altitude.

Waypoint edits are sent to the aircraft immediately upon confirmation in the dialog box. The GCS will re-send the data and the waypoint will animate until the aircraft confirms receipt of the move request. New waypoints cannot be added during flight.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on waypoints.

== Notebook ==

The notebook frame contains one page for each running aircraft. Each aircraft page is itself divided into subpages displaying telemetry data and giving access to the autopilot tuning parameters.

Note that the colored tabs at the top of this section allow the user to select among multiple aircraft.

=== Flight Plan ===

<center>
[[Image:GCSfp.png|Flight plan tree]]
</center>

The full tree of the flight plan is given in this page. The current block and the current stage are highlighted. A double-click on a block allows the operator to immediately switch navigation to this block.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on flight plans.

=== Settings ===
<center>
[[Image:GCSsettings.png|Settings tab]]
</center>
The setting page allows the operator to change variable values during flight. The layout of the page is generated from the <tt>dl_settings</tt> section of the settings.xml file, one tab is associated to every section and sub-section.

On each line is displayed (from left to right), the name of the variable, its current value (periodically sent by the A/C), a slider or radio buttons for user input, and commit/undo buttons.
 
See the [[Telemetry#Settings|Telemetry]] page for more information on settings.
 
The save button of this tab opens the following popup which proposes to the user to save the current values in the airframe file (according to the <tt>param</tt> attribute in the [[Telemetry#Settings|setttings]] configuration file). The values of the checked rows will be saved in the airframe file (or any other file) for further use. Units (e.g. deg or rad) are taken into account. '''It is recommended to backup the airframe file before overwriting it with this utility''' (even if time-stamped copy of the airframe file is actually automatically done).

Symetrically, the Upload button of this dialog button will send all the checked values of the airframe file to the live aircraft.
<center>
[[Image:Save settings.png|Settings tab]]
</center>

=== PFD ===

[[Image:GCSpfd.png|Primary Flight Display]]

The Primary Flight Display contains an artificial horizon and two scales displaying the current ground speed (left side) and the altitude (right side). Minimum and maximum speeds are shown under and above the speed scale. A click on the scale resets these values to the current speed value.

=== GPS, Infrared, Wind ===

The '''GPS''' page gives the list of satellites tracked by the receiver and their respective signal strengths in dB.
(35 is low, 45 is excellent) and if they are used to compute the fix (green: used, red:not used). This page may help to tune the position of the receiver on the aircraft relatively to other components (e.g. datalink and video transmitters).

The '''Infrared''' page is only used for aircraft not equipped with the vertical infrared sensor. This page reports the required pre-flight calibration value as well as the evolution of the in-flight calibration correction factor (from hybridization with the GPS information).

The '''Misc''' page displays the estimated wind velocity computed by the ground station during flight and relayed back to the aircraft. Wind velocity is estimated by vector addition of the GPS-measured ground speed in many different directions during level flight. This computation may soon be performed by the autopilot instead of the ground station.

== Video Plugin ==

The <tt>-mplayer</tt> option of GCS allows the user to display a video stream in this window. The video window can also be exchanged with the map by clicking anywhere inside the frame or from the menu.
Use the following line in your [[Control_panel.xml|control panel]] to enable the video window.
<tt>path_to_ground_segment/cockpit/gcs -mplayer rtsp://localhost:7070/video -layout appropriate_layout.xml</tt>
Note that a <tt>plugin</tt> widget must be specified in the used layout:
<tt> <widget size="300" name="plugin"/></tt>
A useful example of how to configure the GCS to show video from a USB DVB-T tuner with composite input follows:

If you have an Avermedia DVB-T usb tuner like the Aver-Tv Hybrid Volar HX (Avermedia finally released Ubuntu Linux drivers)
then in order to use the usb tuner as video input to the GCS you have to complete the following steps:

First download and install the drivers and check that the Usb tuner works well by connecting a video signal to the composite input
and then opening a console window and typing:

'''mplayer tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:noaudio'''

If everything is ok then a blue or similar LED on the usb tuner dongle should light up indicating that the tuner driver is loaded
and you should be able to watch the video on the pc screen (no audio yet).
Now close the console and remove the Usb tuner as it is time to configure the control_panel.xml file by editing the GCS command line.
Locate the line in the "control_panel.xml" usually located in /Your Paparazzi directory/conf/ (mine is in "/paparazzi/conf/")
that looks similar to the below line:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml">'''

Then edit it so it looks like this:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml -mplayer 'tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:alsa:adevice=hw.2,0:amode=1:audiorate=48000:forceaudio:volume=100:immediatemode=0'">'''

The above line is one complete and uninterrupted line but it is just too long to show it in one line here.
(There is a space after the"-tv" like this "-mplayer 'tv:// -tv driver=v4l2:...." but nowhere else after that).
This will load the mplayer, select the composite video input of the tuner and enable the sound input.
Please remember to change the "NTSC" with "PAL" if you do not use the NTSC video system (if your airborne camera is PAL for example).
Read the mplayer documentation so you can tweak the resolution etc. later to suit your particular setup.
The resolution above is set to 320x240 here but you can set it to 640x480 by replacing the numbers in the command line above.

Finally you have to add the plugin widget to your GCS layout configuration file.
If you noticed the GCS command line in the "control_panel.xml" file, it has a part that reads "-layout horizontal.xml"
so our layout configuration file is the "horizontal.xml" which is located always in "/Your Paparazzi directory/conf/gcs/"
(mine is in "/paparazzi/conf/gcs/").
Open the file and add or uncomment the below line (in "horizontal.xml" the plugin widget is there but commented out):

'''<widget NAME="plugin" SIZE="300"/>'''

Now the file should look like this:

'''
<rows>
<widget size="500" name="map2d"/>
<columns>
<rows size="375">
<widget size="200" name="strips"/>
</rows>
<widget size="400" name="aircraft"/>
<widget name="alarms"/>
<widget NAME="plugin" SIZE="300"/>
</columns>
</rows>
'''

That's it, Enjoy!!! (Tested in Ubuntu 10.04 LTS but probably the same method should work fine on different versions too.)

See this [http://www.youtube.com/watch?v=7OCcMA4vluM screen capture] as an example of the resulting GCS (Y-UAV).

The <tt>-plugin</tt> option is another way to use the plugin widget: the X subwindow id is given to the provided command:
<tt>path_to_ground_segment/cockpit/gcs -plugin "mplayer video_stream -wid " -layout appropriate_layout.xml</tt>
<tt>path_to_ground_segment/cockpit/gcs -plugin "cvlc video_stream --drawable-xid=" -layout appropriate_layout.xml</tt>
The <tt>--vout-event=3</tt> option can be used for vlc to disable mouse and keyboard events handling

== Altitude graph widget ==
<center>
[[Image:altgraph.png|400px|The GCS with the altitude graph]]
</center>

An altitude graph can be displayed in the GCS by adding the widget ''altgraph'' in the layout configuration (See the [[GCS_Configuration|GCS configuration]] page). An example is provided in conf/gcs/alt.xml. To use this layout add -layout alt.xml to the /conf/control_panel.xml file. This type of layout is more suited to a multi UAV set up. The Papget ruler is a much less intrusive and better tool when you are only flying a single aircraft.

==Papgets==
Graphical objects can be added to 2D maps: text, rule, gauge, buttons, .... These objects are named ''papgets''. The following snapshot
shows an example with buttons (left side), gauges (lower left corner), text (upper right corner) and ruler (right side). This example
has been produced with a layout file provided in the distribution:

.../gcs -layout papgets.xml

<center>
[[Image:papgets.png|516px|A 2D map augmented with papgets]]
</center>

===Telemetry data report===
The easiest way to create a papget displaying telemetry data is to drag&drop a message field from the Messages window onto the 2D map of the GCS. The default rendering is then a string of text. Clicking on it allows the user to change its type (currently text, ruler or gauge) and some of its attributes (color, size, range for a gauge, format for a text ...). A papget can be moved by simply dragging it.

<center>
[[Image:papget_editor.png|Main characteristics of a papget can be dynamically edited]]
</center>

Papgets can be saved in the layout of the GCS (from the Nav menu). The description is saved in an XML file (in <tt>conf/gcs/</tt> folder) which can be manually edited:

<pre>
<papget type="message_field" display="gauge" x="47" y="414">
<property name="field" value="BAT:voltage"/>
<property name="scale" value="0.1"/>
<property name="min" value="0."/>
<property name="max" value="15."/>
<property name="size" value="50."/>
<property name="text" value="Bat(V)"/>
</papget>
</pre>

The file is used later by giving it to the gcs process:

<pre>
.../gcs -layout my_fancy_papgets.xml
</pre>

===Buttons===
In the same way, user buttons from the strip can be dragged&dropped on the 2D map. However, they currently cannot be directly edited, and
attributes changes have to be done in the XML file. Two types of button are provided to jump to a block or to set a value:

<papget type="goto_block" display="button" x="10" y="300">
<property name="block_name" value="Standby"/>
<property name="icon" value="home.png"/>
</papget>
<papget type="variable_setting" display="button" x="10" y="250">
<property name="variable" value="launch"/>
<property name="value" value="1."/>
<property name="icon" value="launch.png"/>
</papget>

===Video===
A video stream can be rendered in a <tt>video_plugin</tt> papget, using the mplayer player:
<papget type="video_plugin" display="mplayer" x="300" y="250">
<property name="video_feed" value="my video source"/>
<property name="width" VALUE="320"/>
<property name="height" VALUE="240"/>
</papget>
or any video player which takes in option the X window id :
<papget type="video_plugin" display="plugin" x="300" y="250">
<property name="command" value="cvlc video_source --drawable-xid="/>
<property NAME="width" VALUE="320"/>
<property NAME="height" VALUE="240"/>
</papget>

===Development===
Graphical appearence of papgets is defined in <tt>sw/lib/ocaml/papget_renderer.ml</tt>. A renderer must implement the Papget_renderer.t class type interface (<tt>canvas_text</tt> is probably the simpler example) and listed in the <tt>renderers</tt> list to be available
in the edit popup box.

The XML configuration is parsed in <tt>sw/ground_segment/cockpit/papgets.ml</tt>: a new created papget identifier must listed here.

== Alarms ==

The alarm window displays a list of recent errors such as:
* Low battery warning
* Low altitude warning
* Autopilot mode changes (i.e. Manual, Auto2)
* Flight plan block changes

These alarms can be provided via the speaker using the [[speech]] function.

== Configuration Options ==
The GCS is highly configurable and modules can be added, removed, or resized as needed. In addition to this the gcs has many command line options which can be used when launching the GCS
 
See the [[GCS_Configuration|GCS configuration]] page for details.

== Simulation of Flightplan ==
Complex flight plans should always be carefully tested prior to flight. See the [[Simulation|simulation]] page for details.

==Related Links:==

[[Category:Software]] [[Category:User_Documentation]]

GCS

2011-10-05T19:22:58Z

Hendrix: /* Video Plugin */

{|
|-valign="top"
|__TOC__
|
[[Image:gcs.jpg|frame|right|The Paparazzi Ground Control Station is the heart of the system and the user's primary interaction interface.]]
|}

== Strips ==

Each A/C has an associated strip that displays information about the A/C and provides buttons for common commands. The strip has the following layout by default. Paparazzi GCS is very flexible and the strip can have more or less buttons according to your configuration.

[[Image:strip.png|Aircraft information strip]]

=== Displayed information ===

* Left: Flight information
* Center: Navigation information
* Right: Navigation control
* Bottom: Custom navigation and setting buttons

=== Actions ===

Every change in the waypoints (position or/and altitude) must be confirmed with the dialog box that appears after the move. A modified waypoint remains animated on the map and the GCS continues to re-send the move request until confirmation is received from the aircraft.
When clicked, the '''Mark''' button places a mark on the map at the A/C position. A snapshot from the video plugin is associated to this mark and can be viewed by moving the mouse over the mark. A click on the mark opens a dialog box allowing to delete the mark.
A click on the colored bar at the top selects the corresponding A/C in the [[#notebook|Notebook]].

== Map ==

[[Image:GCSmap.png|thumb|400px|Sample map showing the various features]]

=== Display ===

The map display contains the following information:
* The A/C track: it can be erased ''via'' the ''Clear track'' option from the A/C menu.
* The A/C label (in clear blue near the A/C) contains the name of the A/C (Plaster), it's altitude (218 m) and it's ground speed (11.99 m/s). This option default is off. It can be activated with the ''A/C label'' option from the A/C menu.
* The carrot (the orange triangle). This is the point the A/C is following during autonomous navigation.
* The waypoints defined in the flight plan (blue diamonds).
* The intended trajectory is shown as a green line, in this example a circle around waypoint 2.
* The default background is black. [[Maps|Maps]] can be loaded to provide navigation reference.
* The camera footprint (the grey polygon) is representative of the swath of land currently seen by the onboard camera. This option default is off. It can be activated with the ''Cam footprint'' option from the A/C menu. see also [[Pan_Tilt_Camera]]
* The WGS84 coordinates of the mouse cursor are displayed at the top right hand corner (43.462019 1.270474).
* A UTM kilometric grid can be added to the background ''via'' the ''UTM grid'' option from the ''Nav'' menu.
* The height Above Ground Level (AGL) displays the ground altitude of the mouse near the geographic position in the top right hand corner. The [http://srtm.usgs.gov/ SRTM] option must be enabled in the ''Nav'' menu and the height data must be downloaded as described [[Maps#Height_Data|here]].

=== Navigation ===

You can pan/zoom the map using the following:
* Pan with the blue arrows on the map or use the arrow keys on the keyboard
* zoom in/out with the mouse scroll wheel, the page up/page down buttons or the small up/down buttons at the top right hand corner where the zoom factor is displayed
* fit the map to the window, in order to see all the waypoints and A/C, with the '''f''' key or the ''Fit'' option from the ''Nav'' menu;
* center the map on an A/C with the ''Center A/C'' option from the corresponding A/C menu.

=== Map Photo Tiles ===
The default black background can be automatically filled with calibrated satellite photo tiles from Openstreetmaps, Google Maps or MS Maps. Note: If you download too much map data from Google into the GCS you may be blocked for downloading further map data for 24 hours. With OpenStreetmaps data and MS data there is no such limitation.
 
See the [[Maps]] page for more info.

=== Waypoint Editing ===

The properties of any waypoint in the currently loaded flight plan can be modified by two methods:
* Drag and drop the waypoints to a new location (a confirmation dialog will appear).
* A single left click on a waypoint opens a dialog box where you can edit the waypoint's coordinates and altitude.

Waypoint edits are sent to the aircraft immediately upon confirmation in the dialog box. The GCS will re-send the data and the waypoint will animate until the aircraft confirms receipt of the move request. New waypoints cannot be added during flight.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on waypoints.

== Notebook ==

The notebook frame contains one page for each running aircraft. Each aircraft page is itself divided into subpages displaying telemetry data and giving access to the autopilot tuning parameters.

Note that the colored tabs at the top of this section allow the user to select among multiple aircraft.

=== Flight Plan ===

<center>
[[Image:GCSfp.png|Flight plan tree]]
</center>

The full tree of the flight plan is given in this page. The current block and the current stage are highlighted. A double-click on a block allows the operator to immediately switch navigation to this block.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on flight plans.

=== Settings ===
<center>
[[Image:GCSsettings.png|Settings tab]]
</center>
The setting page allows the operator to change variable values during flight. The layout of the page is generated from the <tt>dl_settings</tt> section of the settings.xml file, one tab is associated to every section and sub-section.

On each line is displayed (from left to right), the name of the variable, its current value (periodically sent by the A/C), a slider or radio buttons for user input, and commit/undo buttons.
 
See the [[Telemetry#Settings|Telemetry]] page for more information on settings.
 
The save button of this tab opens the following popup which proposes to the user to save the current values in the airframe file (according to the <tt>param</tt> attribute in the [[Telemetry#Settings|setttings]] configuration file). The values of the checked rows will be saved in the airframe file (or any other file) for further use. Units (e.g. deg or rad) are taken into account. '''It is recommended to backup the airframe file before overwriting it with this utility''' (even if time-stamped copy of the airframe file is actually automatically done).

Symetrically, the Upload button of this dialog button will send all the checked values of the airframe file to the live aircraft.
<center>
[[Image:Save settings.png|Settings tab]]
</center>

=== PFD ===

[[Image:GCSpfd.png|Primary Flight Display]]

The Primary Flight Display contains an artificial horizon and two scales displaying the current ground speed (left side) and the altitude (right side). Minimum and maximum speeds are shown under and above the speed scale. A click on the scale resets these values to the current speed value.

=== GPS, Infrared, Wind ===

The '''GPS''' page gives the list of satellites tracked by the receiver and their respective signal strengths in dB.
(35 is low, 45 is excellent) and if they are used to compute the fix (green: used, red:not used). This page may help to tune the position of the receiver on the aircraft relatively to other components (e.g. datalink and video transmitters).

The '''Infrared''' page is only used for aircraft not equipped with the vertical infrared sensor. This page reports the required pre-flight calibration value as well as the evolution of the in-flight calibration correction factor (from hybridization with the GPS information).

The '''Misc''' page displays the estimated wind velocity computed by the ground station during flight and relayed back to the aircraft. Wind velocity is estimated by vector addition of the GPS-measured ground speed in many different directions during level flight. This computation may soon be performed by the autopilot instead of the ground station.

== Video Plugin ==

The <tt>-mplayer</tt> option of GCS allows the user to display a video stream in this window. The video window can also be exchanged with the map by clicking anywhere inside the frame or from the menu.
Use the following line in your [[Control_panel.xml|control panel]] to enable the video window.
<tt>path_to_ground_segment/cockpit/gcs -mplayer rtsp://localhost:7070/video -layout appropriate_layout.xml</tt>
Note that a <tt>plugin</tt> widget must be specified in the used layout:
<tt> <widget size="300" name="plugin"/></tt>
A useful example of how to configure the GCS to show video from a USB DVB-T tuner with composite input follows:

If you have an Avermedia DVB-T usb tuner like the Aver-Tv Hybrid Volar HX (Avermedia finally released Ubuntu Linux drivers)
then in order to use the usb tuner as video input to the GCS you have to complete the following steps:

First download and install the drivers and check that the Usb tuner works well by connecting a video signal to the composite input
and then opening a console window and typing:

'''mplayer tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:noaudio'''

If everything is ok then a blue or similar LED on the usb tuner dongle should light up indicating that the tuner driver is loaded
and you should be able to watch the video on the pc screen (no audio yet).
Now close the console and remove the Usb tuner as it is time to configure the control_panel.xml file by editing the GCS command line.
Locate the line in the "control_panel.xml" usually located in /Your Paparazzi directory/conf/ (mine is in "/paparazzi/conf/")
that looks similar to the below line:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml">'''

Then edit it so it looks like this:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml -mplayer 'tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:alsa:adevice=hw.2,0:amode=1:audiorate=48000:forceaudio:volume=100:immediatemode=0'">'''

The above line is one complete and uninterrupted line but it is just too long to show it in one line here.
(There is a space after the"-tv" like this "-mplayer 'tv:// -tv driver=v4l2:...." but nowhere else after that).
This will load the mplayer, select the composite video input of the tuner and enable the sound input.
Please remember to change the "NTSC" with "PAL" if you do not use the NTSC video system (if your airborne camera is PAL for example).
Read the mplayer documentation so you can tweak the resolution etc. later to suit your particular setup.
The resolution above is set to 320x240 here but you can set it to 640x480 by replacing the numbers in the command line above.

Finally you have to add the plugin widget to your GCS layout configuration file.
If you noticed the GCS command line in the "control_panel.xml" file, it has a part that reads "-layout horizontal.xml"
so our layout configuration file is the "horizontal.xml" which is located always in "/Your Paparazzi directory/conf/gcs/"
(mine is in "/paparazzi/conf/gcs/").
Open the file and add or uncomment the below line (in "horizontal.xml" the plugin widget is there but commented out):

'''<widget NAME="plugin" SIZE="300"/>'''

Now the file should look like this:

'''
<rows>
<widget size="500" name="map2d"/>
<columns>
<rows size="375">
<widget size="200" name="strips"/>
</rows>
<widget size="400" name="aircraft"/>
<widget name="alarms"/>
<widget NAME="plugin" SIZE="300"/>
</columns>
</rows>
'''

That's it, Enjoy!!!
**All the above work fine in Ubuntu 10.04 LTS but probably the same method should work fine on different versions too.

See this [http://www.youtube.com/watch?v=7OCcMA4vluM screen capture] as an example of the resulting GCS (Y-UAV).

The <tt>-plugin</tt> option is another way to use the plugin widget: the X subwindow id is given to the provided command:
<tt>path_to_ground_segment/cockpit/gcs -plugin "mplayer video_stream -wid " -layout appropriate_layout.xml</tt>
<tt>path_to_ground_segment/cockpit/gcs -plugin "cvlc video_stream --drawable-xid=" -layout appropriate_layout.xml</tt>
The <tt>--vout-event=3</tt> option can be used for vlc to disable mouse and keyboard events handling

== Altitude graph widget ==
<center>
[[Image:altgraph.png|400px|The GCS with the altitude graph]]
</center>

An altitude graph can be displayed in the GCS by adding the widget ''altgraph'' in the layout configuration (See the [[GCS_Configuration|GCS configuration]] page). An example is provided in conf/gcs/alt.xml. To use this layout add -layout alt.xml to the /conf/control_panel.xml file. This type of layout is more suited to a multi UAV set up. The Papget ruler is a much less intrusive and better tool when you are only flying a single aircraft.

==Papgets==
Graphical objects can be added to 2D maps: text, rule, gauge, buttons, .... These objects are named ''papgets''. The following snapshot
shows an example with buttons (left side), gauges (lower left corner), text (upper right corner) and ruler (right side). This example
has been produced with a layout file provided in the distribution:

.../gcs -layout papgets.xml

<center>
[[Image:papgets.png|516px|A 2D map augmented with papgets]]
</center>

===Telemetry data report===
The easiest way to create a papget displaying telemetry data is to drag&drop a message field from the Messages window onto the 2D map of the GCS. The default rendering is then a string of text. Clicking on it allows the user to change its type (currently text, ruler or gauge) and some of its attributes (color, size, range for a gauge, format for a text ...). A papget can be moved by simply dragging it.

<center>
[[Image:papget_editor.png|Main characteristics of a papget can be dynamically edited]]
</center>

Papgets can be saved in the layout of the GCS (from the Nav menu). The description is saved in an XML file (in <tt>conf/gcs/</tt> folder) which can be manually edited:

<pre>
<papget type="message_field" display="gauge" x="47" y="414">
<property name="field" value="BAT:voltage"/>
<property name="scale" value="0.1"/>
<property name="min" value="0."/>
<property name="max" value="15."/>
<property name="size" value="50."/>
<property name="text" value="Bat(V)"/>
</papget>
</pre>

The file is used later by giving it to the gcs process:

<pre>
.../gcs -layout my_fancy_papgets.xml
</pre>

===Buttons===
In the same way, user buttons from the strip can be dragged&dropped on the 2D map. However, they currently cannot be directly edited, and
attributes changes have to be done in the XML file. Two types of button are provided to jump to a block or to set a value:

<papget type="goto_block" display="button" x="10" y="300">
<property name="block_name" value="Standby"/>
<property name="icon" value="home.png"/>
</papget>
<papget type="variable_setting" display="button" x="10" y="250">
<property name="variable" value="launch"/>
<property name="value" value="1."/>
<property name="icon" value="launch.png"/>
</papget>

===Video===
A video stream can be rendered in a <tt>video_plugin</tt> papget, using the mplayer player:
<papget type="video_plugin" display="mplayer" x="300" y="250">
<property name="video_feed" value="my video source"/>
<property name="width" VALUE="320"/>
<property name="height" VALUE="240"/>
</papget>
or any video player which takes in option the X window id :
<papget type="video_plugin" display="plugin" x="300" y="250">
<property name="command" value="cvlc video_source --drawable-xid="/>
<property NAME="width" VALUE="320"/>
<property NAME="height" VALUE="240"/>
</papget>

===Development===
Graphical appearence of papgets is defined in <tt>sw/lib/ocaml/papget_renderer.ml</tt>. A renderer must implement the Papget_renderer.t class type interface (<tt>canvas_text</tt> is probably the simpler example) and listed in the <tt>renderers</tt> list to be available
in the edit popup box.

The XML configuration is parsed in <tt>sw/ground_segment/cockpit/papgets.ml</tt>: a new created papget identifier must listed here.

== Alarms ==

The alarm window displays a list of recent errors such as:
* Low battery warning
* Low altitude warning
* Autopilot mode changes (i.e. Manual, Auto2)
* Flight plan block changes

These alarms can be provided via the speaker using the [[speech]] function.

== Configuration Options ==
The GCS is highly configurable and modules can be added, removed, or resized as needed. In addition to this the gcs has many command line options which can be used when launching the GCS
 
See the [[GCS_Configuration|GCS configuration]] page for details.

== Simulation of Flightplan ==
Complex flight plans should always be carefully tested prior to flight. See the [[Simulation|simulation]] page for details.

==Related Links:==

[[Category:Software]] [[Category:User_Documentation]]

GCS

2011-10-05T19:22:04Z

Hendrix: /* Video Plugin */

{|
|-valign="top"
|__TOC__
|
[[Image:gcs.jpg|frame|right|The Paparazzi Ground Control Station is the heart of the system and the user's primary interaction interface.]]
|}

== Strips ==

Each A/C has an associated strip that displays information about the A/C and provides buttons for common commands. The strip has the following layout by default. Paparazzi GCS is very flexible and the strip can have more or less buttons according to your configuration.

[[Image:strip.png|Aircraft information strip]]

=== Displayed information ===

* Left: Flight information
* Center: Navigation information
* Right: Navigation control
* Bottom: Custom navigation and setting buttons

=== Actions ===

Every change in the waypoints (position or/and altitude) must be confirmed with the dialog box that appears after the move. A modified waypoint remains animated on the map and the GCS continues to re-send the move request until confirmation is received from the aircraft.
When clicked, the '''Mark''' button places a mark on the map at the A/C position. A snapshot from the video plugin is associated to this mark and can be viewed by moving the mouse over the mark. A click on the mark opens a dialog box allowing to delete the mark.
A click on the colored bar at the top selects the corresponding A/C in the [[#notebook|Notebook]].

== Map ==

[[Image:GCSmap.png|thumb|400px|Sample map showing the various features]]

=== Display ===

The map display contains the following information:
* The A/C track: it can be erased ''via'' the ''Clear track'' option from the A/C menu.
* The A/C label (in clear blue near the A/C) contains the name of the A/C (Plaster), it's altitude (218 m) and it's ground speed (11.99 m/s). This option default is off. It can be activated with the ''A/C label'' option from the A/C menu.
* The carrot (the orange triangle). This is the point the A/C is following during autonomous navigation.
* The waypoints defined in the flight plan (blue diamonds).
* The intended trajectory is shown as a green line, in this example a circle around waypoint 2.
* The default background is black. [[Maps|Maps]] can be loaded to provide navigation reference.
* The camera footprint (the grey polygon) is representative of the swath of land currently seen by the onboard camera. This option default is off. It can be activated with the ''Cam footprint'' option from the A/C menu. see also [[Pan_Tilt_Camera]]
* The WGS84 coordinates of the mouse cursor are displayed at the top right hand corner (43.462019 1.270474).
* A UTM kilometric grid can be added to the background ''via'' the ''UTM grid'' option from the ''Nav'' menu.
* The height Above Ground Level (AGL) displays the ground altitude of the mouse near the geographic position in the top right hand corner. The [http://srtm.usgs.gov/ SRTM] option must be enabled in the ''Nav'' menu and the height data must be downloaded as described [[Maps#Height_Data|here]].

=== Navigation ===

You can pan/zoom the map using the following:
* Pan with the blue arrows on the map or use the arrow keys on the keyboard
* zoom in/out with the mouse scroll wheel, the page up/page down buttons or the small up/down buttons at the top right hand corner where the zoom factor is displayed
* fit the map to the window, in order to see all the waypoints and A/C, with the '''f''' key or the ''Fit'' option from the ''Nav'' menu;
* center the map on an A/C with the ''Center A/C'' option from the corresponding A/C menu.

=== Map Photo Tiles ===
The default black background can be automatically filled with calibrated satellite photo tiles from Openstreetmaps, Google Maps or MS Maps. Note: If you download too much map data from Google into the GCS you may be blocked for downloading further map data for 24 hours. With OpenStreetmaps data and MS data there is no such limitation.
 
See the [[Maps]] page for more info.

=== Waypoint Editing ===

The properties of any waypoint in the currently loaded flight plan can be modified by two methods:
* Drag and drop the waypoints to a new location (a confirmation dialog will appear).
* A single left click on a waypoint opens a dialog box where you can edit the waypoint's coordinates and altitude.

Waypoint edits are sent to the aircraft immediately upon confirmation in the dialog box. The GCS will re-send the data and the waypoint will animate until the aircraft confirms receipt of the move request. New waypoints cannot be added during flight.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on waypoints.

== Notebook ==

The notebook frame contains one page for each running aircraft. Each aircraft page is itself divided into subpages displaying telemetry data and giving access to the autopilot tuning parameters.

Note that the colored tabs at the top of this section allow the user to select among multiple aircraft.

=== Flight Plan ===

<center>
[[Image:GCSfp.png|Flight plan tree]]
</center>

The full tree of the flight plan is given in this page. The current block and the current stage are highlighted. A double-click on a block allows the operator to immediately switch navigation to this block.
 
See the [[Flight_Plans|Flight plans]] and [[Flight_Plan_Editor|Flight Plan Editor]] pages for more information on flight plans.

=== Settings ===
<center>
[[Image:GCSsettings.png|Settings tab]]
</center>
The setting page allows the operator to change variable values during flight. The layout of the page is generated from the <tt>dl_settings</tt> section of the settings.xml file, one tab is associated to every section and sub-section.

On each line is displayed (from left to right), the name of the variable, its current value (periodically sent by the A/C), a slider or radio buttons for user input, and commit/undo buttons.
 
See the [[Telemetry#Settings|Telemetry]] page for more information on settings.
 
The save button of this tab opens the following popup which proposes to the user to save the current values in the airframe file (according to the <tt>param</tt> attribute in the [[Telemetry#Settings|setttings]] configuration file). The values of the checked rows will be saved in the airframe file (or any other file) for further use. Units (e.g. deg or rad) are taken into account. '''It is recommended to backup the airframe file before overwriting it with this utility''' (even if time-stamped copy of the airframe file is actually automatically done).

Symetrically, the Upload button of this dialog button will send all the checked values of the airframe file to the live aircraft.
<center>
[[Image:Save settings.png|Settings tab]]
</center>

=== PFD ===

[[Image:GCSpfd.png|Primary Flight Display]]

The Primary Flight Display contains an artificial horizon and two scales displaying the current ground speed (left side) and the altitude (right side). Minimum and maximum speeds are shown under and above the speed scale. A click on the scale resets these values to the current speed value.

=== GPS, Infrared, Wind ===

The '''GPS''' page gives the list of satellites tracked by the receiver and their respective signal strengths in dB.
(35 is low, 45 is excellent) and if they are used to compute the fix (green: used, red:not used). This page may help to tune the position of the receiver on the aircraft relatively to other components (e.g. datalink and video transmitters).

The '''Infrared''' page is only used for aircraft not equipped with the vertical infrared sensor. This page reports the required pre-flight calibration value as well as the evolution of the in-flight calibration correction factor (from hybridization with the GPS information).

The '''Misc''' page displays the estimated wind velocity computed by the ground station during flight and relayed back to the aircraft. Wind velocity is estimated by vector addition of the GPS-measured ground speed in many different directions during level flight. This computation may soon be performed by the autopilot instead of the ground station.

== Video Plugin ==

The <tt>-mplayer</tt> option of GCS allows the user to display a video stream in this window. The video window can also be exchanged with the map by clicking anywhere inside the frame or from the menu.
Use the following line in your [[Control_panel.xml|control panel]] to enable the video window.
<tt>path_to_ground_segment/cockpit/gcs -mplayer rtsp://localhost:7070/video -layout appropriate_layout.xml</tt>
Note that a <tt>plugin</tt> widget must be specified in the used layout:
<tt> <widget size="300" name="plugin"/></tt>
A useful example of how to configure the GCS to show video from a USB DVB-T tuner with composite input follows:

If you have an Avermedia DVB-T usb tuner like the Aver-Tv Hybrid Volar HX (Avermedia finally released Ubuntu Linux drivers)
then in order to use the usb tuner as video input to the GCS you have to complete the following steps:

First download and install the drivers and check that the Usb tuner works well by connecting a video signal to the composite input
and then opening a console window and typing:

'''mplayer tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:noaudio'''

If everything is ok then a blue or similar LED on the usb tuner dongle should light up indicating that the tuner driver is loaded
and you should be able to watch the video on the pc screen (no audio yet).
Now close the console and remove the Usb tuner as it is time to configure the control_panel.xml file by editing the GCS command line.
Locate the line in the "control_panel.xml" usually located in /Your Paparazzi directory/conf/ (mine is in "/paparazzi/conf/")
that looks similar to the below line:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml">'''

Then edit it so it looks like this:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml -mplayer 'tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:alsa:adevice=hw.2,0:amode=1:audiorate=48000:forceaudio:volume=100:immediatemode=0'">'''

The above line is one complete and uninterrupted line but it is just too long to show it in one line here.
(There is a space after the"-tv" like this "-mplayer 'tv:// -tv driver=v4l2:...." but nowhere else after that).
This will load the mplayer, select the composite video input of the tuner and enable the sound input.
Please remember to change the "NTSC" with "PAL" if you do not use the NTSC video system (if your airborne camera is PAL for example).
Read the mplayer documentation so you can tweak the resolution etc. later to suit your particular setup.
The resolution above is set to 320x240 here but you can set it to 640x480 by replacing the numbers in the command line above.

Finally you have to add the plugin widget to your GCS layout configuration file.
If you noticed the GCS command line in the "control_panel.xml" file, it has a part that reads "-layout horizontal.xml"
so our layout configuration file is the "horizontal.xml" which is located always in "/Your Paparazzi directory/conf/gcs/"
(mine is in "/paparazzi/conf/gcs/").
Open the file and add or uncomment the below line (in "horizontal.xml" the plugin widget is there but commented out):

'''<widget NAME="plugin" SIZE="300"/>'''

Now the file should look like this:

'''
<rows>
<widget size="500" name="map2d"/>
<columns>
<rows size="375">
<widget size="200" name="strips"/>
</rows>
<widget size="400" name="aircraft"/>
<widget name="alarms"/>
<widget NAME="plugin" SIZE="300"/>
</columns>
</rows>
'''

That's it, Enjoy (All the above work fine in Ubuntu 10.04 LTS but probably the same method should work fine on different versions too)

See this [http://www.youtube.com/watch?v=7OCcMA4vluM screen capture] as an example of the resulting GCS (Y-UAV).

The <tt>-plugin</tt> option is another way to use the plugin widget: the X subwindow id is given to the provided command:
<tt>path_to_ground_segment/cockpit/gcs -plugin "mplayer video_stream -wid " -layout appropriate_layout.xml</tt>
<tt>path_to_ground_segment/cockpit/gcs -plugin "cvlc video_stream --drawable-xid=" -layout appropriate_layout.xml</tt>
The <tt>--vout-event=3</tt> option can be used for vlc to disable mouse and keyboard events handling

== Altitude graph widget ==
<center>
[[Image:altgraph.png|400px|The GCS with the altitude graph]]
</center>

An altitude graph can be displayed in the GCS by adding the widget ''altgraph'' in the layout configuration (See the [[GCS_Configuration|GCS configuration]] page). An example is provided in conf/gcs/alt.xml. To use this layout add -layout alt.xml to the /conf/control_panel.xml file. This type of layout is more suited to a multi UAV set up. The Papget ruler is a much less intrusive and better tool when you are only flying a single aircraft.

==Papgets==
Graphical objects can be added to 2D maps: text, rule, gauge, buttons, .... These objects are named ''papgets''. The following snapshot
shows an example with buttons (left side), gauges (lower left corner), text (upper right corner) and ruler (right side). This example
has been produced with a layout file provided in the distribution:

.../gcs -layout papgets.xml

<center>
[[Image:papgets.png|516px|A 2D map augmented with papgets]]
</center>

===Telemetry data report===
The easiest way to create a papget displaying telemetry data is to drag&drop a message field from the Messages window onto the 2D map of the GCS. The default rendering is then a string of text. Clicking on it allows the user to change its type (currently text, ruler or gauge) and some of its attributes (color, size, range for a gauge, format for a text ...). A papget can be moved by simply dragging it.

<center>
[[Image:papget_editor.png|Main characteristics of a papget can be dynamically edited]]
</center>

Papgets can be saved in the layout of the GCS (from the Nav menu). The description is saved in an XML file (in <tt>conf/gcs/</tt> folder) which can be manually edited:

<pre>
<papget type="message_field" display="gauge" x="47" y="414">
<property name="field" value="BAT:voltage"/>
<property name="scale" value="0.1"/>
<property name="min" value="0."/>
<property name="max" value="15."/>
<property name="size" value="50."/>
<property name="text" value="Bat(V)"/>
</papget>
</pre>

The file is used later by giving it to the gcs process:

<pre>
.../gcs -layout my_fancy_papgets.xml
</pre>

===Buttons===
In the same way, user buttons from the strip can be dragged&dropped on the 2D map. However, they currently cannot be directly edited, and
attributes changes have to be done in the XML file. Two types of button are provided to jump to a block or to set a value:

<papget type="goto_block" display="button" x="10" y="300">
<property name="block_name" value="Standby"/>
<property name="icon" value="home.png"/>
</papget>
<papget type="variable_setting" display="button" x="10" y="250">
<property name="variable" value="launch"/>
<property name="value" value="1."/>
<property name="icon" value="launch.png"/>
</papget>

===Video===
A video stream can be rendered in a <tt>video_plugin</tt> papget, using the mplayer player:
<papget type="video_plugin" display="mplayer" x="300" y="250">
<property name="video_feed" value="my video source"/>
<property name="width" VALUE="320"/>
<property name="height" VALUE="240"/>
</papget>
or any video player which takes in option the X window id :
<papget type="video_plugin" display="plugin" x="300" y="250">
<property name="command" value="cvlc video_source --drawable-xid="/>
<property NAME="width" VALUE="320"/>
<property NAME="height" VALUE="240"/>
</papget>

===Development===
Graphical appearence of papgets is defined in <tt>sw/lib/ocaml/papget_renderer.ml</tt>. A renderer must implement the Papget_renderer.t class type interface (<tt>canvas_text</tt> is probably the simpler example) and listed in the <tt>renderers</tt> list to be available
in the edit popup box.

The XML configuration is parsed in <tt>sw/ground_segment/cockpit/papgets.ml</tt>: a new created papget identifier must listed here.

== Alarms ==

The alarm window displays a list of recent errors such as:
* Low battery warning
* Low altitude warning
* Autopilot mode changes (i.e. Manual, Auto2)
* Flight plan block changes

These alarms can be provided via the speaker using the [[speech]] function.

== Configuration Options ==
The GCS is highly configurable and modules can be added, removed, or resized as needed. In addition to this the gcs has many command line options which can be used when launching the GCS
 
See the [[GCS_Configuration|GCS configuration]] page for details.

== Simulation of Flightplan ==
Complex flight plans should always be carefully tested prior to flight. See the [[Simulation|simulation]] page for details.

==Related Links:==

[[Category:Software]] [[Category:User_Documentation]]