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 through API mode, 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. With this firmware the modems basically act as a serial link replacement and don't do any mesh networking.
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 (AT command set)

This 2.4GHz modem uses ZigBee PRO Feature Set and is compatible with devices from other vendors using the ZigBee PRO Feature Set.

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.
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.
6. Then write the firmware to the module.

XBee Pro ZNet 2.5 (AT command set)

These are legacy modems and not recommended/sold by Digi anymore. It is recommended to upgrade these to XBee Pro ZB with the ZNet 2.5 to ZB Conversion Kit from Digi.
If you want to use ZNet 2.5 feature set nevertheless, here is how to configure it:

Flashing the airborne module

1. Connect your XBee, start X-CTU, click READ
2. Select the function set ZNET 2.5 ROUTER/END DEVICE 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.
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 ZNET 2.5 COORDINATOR DEVICE AT.
3. Set the Destination Address Low (DL) to FFFF.
4. Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).
5. Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.
6. Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
7. Then write the firmware to the module.

see also : PixHawk HowTo configure XBee