XBee configuration

Paparazzi supports the following modem protocols:

• Standard transparent serial (pprz) - this is compatible with all modems and can be used to connect the autopilot directly to a PC for testing without a modem.
• Digi (formerly Maxstream) API protocol (xbee) - compatible with all Digi modems including the 9XTend and Zigbee. This protocol enables hardware addressing, allowing multiple aircraft to be managed from a single ground modem.

Installation

The simples way to configure the XBee modems is to use the X-CTU software from Digi. It runs under Windows or under Wine

Configuring XBee AT mode (for pprz protocol)

This is the recommended way to start.
Basic approach:

1. Connect your XBee, e.g. via a USB XBee Explorer.
2. Start the X-CTU programm and go to the modem configuration.
3. Click on READ
4. Select the appropriate function set with AT command set.
5. set PAN ID, etc... depending on which XBee you use
6. Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly. At a higher baudrate setting, transmission can only be done in one direction.
7. Then write the firmware to the module.

XBee Pro ZB 2.4GHZ

Flashing the airborne module

1. Connect your XBee, start X-CTU, click READ
2. Select the function set ZIGBEE END DEVICE AT (or ZIGBEE ROUTER AT).
3. Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).
4. Set the Node Identifier (NI) to your aircraft name or any other appropriate name.
5. Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly. At a higher baudrate setting, transmission can only be done in one direction.
6. Then write the firmware to the module.

Flashing the ground station module

1. Connect your XBee, start X-CTU, click READ
2. Select the function set ZIGBEE COORDINATOR AT.
3. Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).
4. Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.
5. Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly. At a higher baudrate setting, transmission can only be done in one direction.
6. Then write the firmware to the module.

XBee Pro ZNet 2.5 2.4GHZ

You can upgrade these to XBee Pro ZB.