Difference between revisions of "Modems"
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= Digi XBee modules = | = Digi XBee modules = | ||
There are a couple of different XBee modules available from Digi (formerly Maxstream). Mostly in a PRO (long range) and a standard (low Power) version. They are all pin compatible. | There are a couple of different XBee modules available from Digi (formerly Maxstream). Mostly in a PRO (long range) and a standard (low Power) version. Especially interesting for paparazzi are the PRO versions. They are all pin compatible. | ||
The modules can be used in a transparent mode (as a serial line replacement) or in an API mode. | The modules can be used in a transparent mode (as a serial line replacement) or in an API mode. | ||
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* XBee-PRO 802.15.4 (formerly Series 1) | * XBee-PRO 802.15.4 (formerly Series 1) | ||
* XBee-PRO DigiMesh 2.4 | * XBee-PRO DigiMesh 2.4 | ||
WARNING: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee 802.15.4 (formerly Series 1) modules. | |||
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|Ember stack | |Ember stack | ||
|2.4 GHz | |2.4 GHz | ||
| | |2mW/50mW | ||
|coordinator needed | |coordinator needed | ||
|- | |- | ||
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|Ember stack | |Ember stack | ||
|2.4 GHz | |2.4 GHz | ||
| | |2mW/50mW | ||
|(only legacy -> use XBee-PRO ZB) coordinator needed | |(only legacy -> use XBee-PRO ZB) coordinator needed | ||
|- | |- | ||
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* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet] | * [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] | * [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual] | ||
== Digi XBee Pro ZB == | |||
The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking. | |||
{| | |||
|-valign="top" | |||
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro ZB]] | |||
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* 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 : ~34 USD | |||
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|} | |||
=== 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 == | == Digi XBee Pro 868 == | ||
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{| | {| | ||
|-valign="top" | |-valign="top" | ||
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro | |[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]] | ||
| | | | ||
* 868 MHz short range device (SRD) G3 band for Europe | * 868 MHz short range device (SRD) G3 band for Europe | ||
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|} | |} | ||
=== 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] | |||
Revision as of 16:35, 9 December 2008
The Paparazzi autopilot features a 5V tolerant 3V 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 thru 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 page.
Digi XBee modules
There are a couple of different XBee modules available from Digi (formerly Maxstream). Mostly in a PRO (long range) and a standard (low Power) version. Especially interesting for paparazzi are the PRO versions. They are all pin compatible. The modules can be used in a transparent mode (as a serial line replacement) or in an API mode.
- 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
WARNING: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee 802.15.4 (formerly Series 1) modules.
| Module | Point-to-Multipoint | ZigBee/Mesh | Hardware | Frequency | TX Power normal/PRO | Notes |
| XBee ZB | yes | Ember stack | 2.4 GHz | 2mW/50mW | coordinator needed | |
| XBee ZNet 2.5 | yes | Ember stack | 2.4 GHz | 2mW/50mW | (only legacy -> use XBee-PRO ZB) coordinator needed | |
| XBee DigiMesh 2.4 | yes | ? | 2.4 GHz | all nodes equal (no special coordinators/routers/end-devices) | ||
| XBee 802.15.4 | yes | ? | 2.4 GHz | |||
| XBee-PRO 868 | yes | ? | 868 MHz | 500mW |
Pinout
| 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
Digi XBee Pro 2.4GHz (802.15.4, "Series 1")
These relatively cheap and light modules implement the 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.
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Documentation
Digi XBee Pro ZB
The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.
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Documentation
Digi XBee Pro 868
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.
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Documentation
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 2.4Ghz video compatibility of their high end 900Mhz models. Sounds like the perfect modem for anyone who can use 900Mhz. Give them a try and post your results here!
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Documentation
Maxstream 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 power settings from 100mW to 1W. Testing has shown range up to 3.2km (2 miles) with 100mW.
 9XTend USB Modem |
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 9XTend OEM Modem |
Pinout
| 9XTend 20-pin Header | Name | Tiny Serial-1 Header | Notes |
| 1 | GND | 1 (GND) | Ground |
| 2 | VCC | N/A (requires 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 | N/A (requires 5V) | Permanently connect this pin 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
Aerocomm
Aerocomm's API mode is not yet implemented. Therefore they are used in transparent mode. Users are reporting these modems cause more interference with GPS reception then the Maxstream modem.
How to use this modem on ground station side? [1]
AC4868-250
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AC4790-200
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AC4790-1000
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Pinout
| AC4868 20-pin Header | Name | Color | Tiny Serial-1 | Notes |
| 2 | Tx | green | 7 | (Note 1) |
| 3 | Rx | blue | 8 | (Note 1) |
| 5 | GND | black | 1 | - |
| 10+11 | VCC | red | 2 | +3.3v |
| 17 | C/D | white | 3 | Low = Command High = Data |
Note 1 : names are specified with respect to the AEROCOMM module
Documentation
- AC4790 product page
- AC4790 Datasheet
- AC4790 Manual
- AC4848 product page
- AC4868 Datasheet
- AC4868 user manual
Radiotronix
These Radiotronix modems are used in transparent mode. Use the WI232EUR Evaluation Software for configuring the modems for the set speed. Connect /CMD and CTS for programming. The DTS version for the US market might cause severe interference with GPS reception, it is not recommended. For a nice ground station modem just add a FTDI232 USB->serial cable, a 3.3V regulator with 100nF capacitors from supplies to ground, solder a SMA cable/connector and put it in a nice case. Make sure you only connect RTS to /CMD if you want to reprogram the modem with the Evaluation software (see the open jumper connection in the picture, green wire) and leave it floating otherwise as connected RTS/CTS sporadically leads to a reprogramming of the modem. The ANT-GXD105-FME/F from Roundsolutions was used as a ground station antenna at many competitions.
WI232EUR
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Pinout
Note 1 : names are specified with respect to the Radiotronix module Note 2 : connect to RTS to program device with Evaluation software Note 3 : connect to CTS to program device with Evaluation software |
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Documentation
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.
"Sparkfun" Roving Networks (WRL-08497)
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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
and make a virtual connection to a Bluetooth serial port sudo rfcomm bind 0 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. |
Coronis WaveCard
These relatively inexpensive and light modules implement a Coronis proprietary protocol. Low power consumption - high latency - I would not recommend these modules mostly because of the low quality of the distribution and support. The documentation is rather poor and not easily available.
Suport for these modems has been removed from the airborne code on Dec 10th, 2007.
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Documentation
Video Transmitter Telemetry
In order for the UAV to transmit video from an onboard camera, a video transmitter is needed. 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.
Antennas
Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
