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---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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docs/zh/telemetry/3dr_telemetry_wifi.md
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# 3DR 无线数传 (停产)
:::info
This product is no longer manufactured or available from 3DR.
:::
The _3DR WiFi Telemetry Radio_ is supported by PX4.
Simply connect it to the flight controller's `TELEM1` port to create a WiFi "hotspot" for the vehicle with the details below:
```sh
essid: APM_PIX
password: 12345678
```
Connect your ground control station to the above WiFi SSID.
After connecting the vehicle should automatically be detected and connect to _QGroundControl_.
![3DR Wifi Telemetry Radio 1](../../assets/hardware/telemetry/3dr_telemetry_wifi_1.jpg)
![3DR Wifi Telemetry Radio 2](../../assets/hardware/telemetry/3dr_telemetry_wifi_2.jpg)
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# ARK Electron Microhard Serial Telemetry Radios
_ARK Electron Microhard Serial Telemetry Radios_ integrate the [Microhard Pico Serial](http://microhardcorp.com/P900.php) P900 RF module.
This can be used to enable MAVLink communication between a radio on a vehicle and a GCS.
Microhard Pico Serial radios are (up to) 1 Watt output radios that support point to point, point to multi-point, and mesh modes.
The Microhard Pico radios can also be ordered with AES-256 encryption.
The approximate range with output power set to 1W is 8km (5miles) when using default settings.
A single ground station radio can be used to communicate with multiple vehicles using point to multi-point or mesh.
Vehicles must have different MAVLINK IDs.
![Microhard Radio](../../assets/hardware/telemetry/ark_microhard_serial.jpg)
## 购买渠道
- [1W 900MHz Serial Telemetry Radio](https://arkelectron.com/product/1w-900mhz-serial-telemetry-air-radio/) (vehicle)
- [1W 900MHz USB Serial Telemetry Radio](https://arkelectron.com/product/1w-900mhz-serial-telemetry-ground-radio/) (ground station)
- [1W 2.4GHz Serial Telemetry Radio](https://arkelectron.com/product/1w-2400mhz-serial-telemetry-radio/) (vehicle)
- [1W 2.4GHz USB Serial Telemetry Radio](https://arkelectron.com/product/1w-2400mhz-usb-serial-telemetry-radio/) (ground station)
## Connecting
### Vehicle Radio
Connect the vehicle radio to the flight controller `TELEM1` port.
A Pixhawk-standard 6 pin JST GH telemetry cable is supplied for this purpose.
The radio can be powered by the telemetry cable if the output power is set to less than 100mW.
For higher output levels, the radio must be separately powered via the 2 Pin Molex Nano-Fit (i.e. from a battery).
![Microhard Radio on Vehicle](../../assets/hardware/telemetry/microhard_serial_on_vehicle.jpg)
### Ground Station Radio
Connect the ground radio to the ground station via USB C.
The radio does not need to be separately powered when using USB PD (1W power can be supplied).
## Setup/Configuration
The radios are default-configured to use peer-to-peer mode and a baud rate of 57600.
This allows them to connect to the PX4 `TELEM1` port and _QGroundControl_ **without any further configuration**.
:::info
You can use a different baud rate, mode or flight controller port.
The only "requirement" is that the ground radio, air radio, PX4, and QGroundControl must all be set to the same baud rate.
:::
[Microhard Serial Telemetry Radios > Configuration](../telemetry/microhard_serial.md#configuration) explains how to configure the radios, _QGroundControl_, and PX4.
The ARK Electron radios must be connected to the computer running the _PicoConfig_ configuration tool as described below:
- For vehicle radio configuration you will have to connect an FTDI adapter between the radio's 3 pin JST-GH Config port and a Windows PC running _Pico Config_ (the radio must be powered, which you can do from battery or the data connection to the flight-controller's `TELEM1` port).
![Ark Microhard Serial - Ports](../../assets/hardware/telemetry/ark_microhard_serial_ports.jpg)
_Pico Config_ will automatically detect the radio.
Adjust the baud rate setting to match PX4 (and the ground station radio).
- The ground station radio USB C connection can be used for configuring the radio (as well as for telemetry data).
_Pico Config_ will automatically detect and connect to the configuration port.
Adjust the settings so that the baud rate matches PX4.
Once the radios and PX4 are all configured to use the same baud rate you can connect QGroundControl to the vehicle via the radio.
### Default Configuration
The default radio configuration as shipped is shown in _PicoConfig_ below.
![Pico Config](../../assets/hardware/telemetry/pico_configurator.png)
## 更多信息
- [Pico Config 1.7](https://arkelectron.com/wp-content/uploads/2021/04/PicoConfig-1.7.zip) - Radio configuration tool
docs/zh/telemetry/crsf_telemetry.md
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# CRSF Telemetry (TBS Crossfire Telemetry)
CRSF is a telemetry protocol that can be used for both [RC control](../getting_started/rc_transmitter_receiver.md) and to get telemetry information from the vehicle/flight controller on a compatible RC transmitter.
The protocol was developed by [Team BlackSheep](https://www.team-blacksheep.com/) for their Crossfire RC system, but is also used by [ExpressLRS (ELRS)](https://www.expresslrs.org/) RC systems.
It is a bidirectional protocol that only needs a single UART for communicating both RC and telemetry.
The [supported telemetry messages are listed here](#telemetry-messages), and include: flight mode, battery level, GPS data RC signal strength, speed, altitude, and so on.
:::info
If you don't need telemetry you can connect a TBS Crossfire to the `RCIN` port and configure the receiver to use S.BUS.
Crossfire radio systems can also be used as [Telemetry Radios](../telemetry/index.md).
:::
:::warning
PX4 does not include the CRSF protocol support by default.
The [instructions below](#px4-configuration) explain how to build and upload custom PX4 firmware that includes the required modules.
:::
## Radio System Setup
To use CRSF telemetry you will need a [TBS Crossfire radio system](#tbs-radio-systems) or [ExpressLRS radio system](#expresslrs-radio-systems) that includes an [RC controller](#rc-controllers) with a transmitter, and a receiver (from the same vendor).
:::info
An RC radio system historically consisted of a ground-based controller that transmitted to an on-vehicle receiver.
Even though many radio systems are now bidirectional, the ground module may still be referred to as the transmitter, and the air unit may be called a receiver.
:::
Generally you will need to separately setup and configure the transmitter and receiver, and then _bind_ them together.
A transmitter might come as an integral part of an [RC controller](#rc-controllers), or it might be a separate module that you plug into a controller.
If it is a separate module then you may also need to update the module software on the transmitter to firmware that supports CRSF, such as OpenTX or EdgeTx.
In both cases you will need to configure the transmitter to enable CRSF.
The receiver must be [wired](#wiring) to a spare port (UART) on the Flight Controller.
Then you can _bind_ the transmitter and receiver together.
Instructions for the steps above are covered in
- [TBS Crossfire Manual](https://www.team-blacksheep.com/tbs-crossfire-manual.pdf)
- [Express LRS: QuickStart](https://www.expresslrs.org/quick-start/getting-started/)
### 布线
The TX and RX on your selected Flight Controller UART should be connected to separate channels on the receiver.
The signal is usually uninverted, and can be directly connected (no additional inverter logic is required in the cable).
You should check the manual for your specific receiver though!
#### TBS Receiver Wiring
For TBS receivers you wire the FC UART and receiver as shown (this assumes the TBS Nano RX).
| FC UART | Nano RX |
| ------- | ------- |
| TX | Ch2 |
| RX | Ch1 |
#### ExpressLRS Receiver Wiring
For ExpressLRS receivers wire to the flight controller UART as shown below (wiring is covered [in detail here](https://www.expresslrs.org/quick-start/receivers/wiring-up/)):
| FC UART | ExpressLRS |
| ------- | ---------- |
| TX | RX |
| RX | TX |
| VCC | VCC |
| GND | GND |
## PX4 配置
### Firmware Configuration/Build
CRSF telemetry support is not included in any PX4 firmware by default.
To use this feature you must build and upload custom firmware that includes [crsf-rc](../modules/modules_driver.md#crsf-rc) and removes [rc_input](../modules/modules_driver.md#rc-input).
步骤如下：
1. [Setup a development environment](../dev_setup/dev_env.md) for building PX4.
As part of this process you will have used `git` to fetch source code into the **PX4-Autopilot** directory.
2. Open a terminal and `cd` into the `PX4-Autopilot` directory.
```sh
cd PX4-Autopilot
```
3. Launch the [PX4 board config tool (`menuconfig`)](../hardware/porting_guide_config.md#px4-menuconfig-setup) for your `make` target using the `boardconfig` option (here the target is the [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) flight controller):
```sh
make ark_fmu-v6x_default boardconfig
```
4. In the PX4 board config tool:
- Disable the default `rc_input` module
1. Navigate to the `drivers` submenu, then scroll down to highlight `rc_input`.
2. Use the enter key to remove the `*` from `rc_input` checkbox.
- Enable the `crsf_rc` module
1. Scroll to highlight the `RC` submenu, then press enter to open it.
2. Scroll to highlight `crsf_rc` and press enter to enable it.
Save and exit the PX4 board config tool.
5. [Build the PX4 source code](../dev_setup/building_px4.md) with your changes (again assuming you are using ARKV6X):
```sh
make ark_fmu-v6x_default
```
This will build your custom firmware, which must now be uploaded to your flight controller.
### Firmware Upload
To upload the custom firmware, first connect your flight controller to the development computer via USB.
You can upload firmware as part of the build process using the `upload` options:
```sh
make ark_fmu-v6x_default upload
```
Alternatively you can use QGroundControl to install the firmware, as described in [Firmware > Installing PX4 master, beta, or custom firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware).
### Parameter Configuration
[Find and set](../advanced_config/parameters.md) the following parameters:
1. [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) — Set to the port that is connected to the CRSF receiver (such as `TELEM1`).
This [configures the serial port](../peripherals/serial_configuration.md) to use the CRSF protocol.
Note that some serial ports may already have a [default serial port mapping](../peripherals/serial_configuration.md#default-serial-port-configuration) or [default MAVLink serial port mapping](../peripherals/mavlink_peripherals.md#default-mavlink-ports) that you will have to un-map before you can assign the port to CRSF.
For example, if you want to use `TELEM1` or `TELEM2` you first need to modify [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) or [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) to stop setting those ports.
There is no need to set the baud rate for the port, as this is configured by the driver.
2. [RC_CRSF_TEL_EN](../advanced_config/parameter_reference.md#RC_CRSF_TEL_EN) — Enable to activate Crossfire telemetry.
### 无线电系统设置
[Radio Control Setup](../config/radio.md) explains how to map your RC controller's attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
## RC Controllers
A transmitter might come as an integral part of an RC controller, or it might be a separate module that you plug into a controller.
RC Controllers that support TBS Crossfire and ExpressLRS TX modules:
- [FrSky Taranis X9D Plus](https://www.frsky-rc.com/product/taranis-x9d-plus-2/) has an external module bay that can be used with TBS or ExpressLRS transmitter modules that are "JR module bay" compatible.
You will need to install OpenTX software, which supports CRSF, and enable the external module and CRSF.
- [Radiomaster TX16S](https://www.radiomasterrc.com/collections/tx16s-mkii) has an internal ExpressLRS transmitter module.
It also has an external module bay that can be used with TBS or ExpressLRS transmitter modules that are "JR module bay" compatible.
It runs both OpenTX and EdgeTx software, either of which can support CRSF.
## TBS Radio Systems
[TBS Crossfire Radio Systems are listed here](https://www.team-blacksheep.com/shop/cat:cat_crossfire#product_listing).
A few options are listed below.
Transmitter modules:
- [TBS CROSSFIRE TX - LONG RANGE R/C TRANSMITTER](https://www.team-blacksheep.com/products/prod:crossfire_tx)
Receivers:
- [TBS Crossfire Nano RX](http://team-blacksheep.com/products/prod:crossfire_nano_rx) - designed for small quadcopters.
## ExpressLRS Radio Systems
Express LRS provide Radio System guidance in the [Hardware Selection](https://www.expresslrs.org/hardware/hardware-selection/) page.
A few tested options are listed below.
Transmitter modules:
- TBD
Receivers:
- [ExpressLRS Matek Diversity RX](http://www.mateksys.com/?portfolio=elrs-r24).
::: info
This is used in the [Reptile Dragon 2 Build Log](../frames_plane/reptile_dragon_2.md).
See sections [ELRS Rx](../frames_plane/reptile_dragon_2.md#elrs-rx) and [Radio Setup](../frames_plane/reptile_dragon_2.md#radio-setup).
:::
## 遥测信息
The supported telemetry messages and their source are listed below (this table is reproduced from the [TBS Crossfire Manual: "Available sensors with OpenTX"](https://www.team-blacksheep.com/tbs-crossfire-manual.pdf)).
| Datapoint | 描述 | Data source |
| --------- | --------------------------------------------------------------------- | -------------------------------- |
| 1RSS | Uplink - received signal strength antenna 1 (RSSI) | TBS CROSSFIRE RX |
| 2RSS | Uplink - received signal strength antenna 2 (RSSI) | TBS CROSSFIRE RX |
| RQly | Uplink - link quality (valid packets) | TBS CROSSFIRE RX |
| RSNR | Uplink - signal-to-noise ratio | TBS CROSSFIRE RX |
| RFMD | Uplink - update rate, 0 = 4Hz, 1 = 50Hz, 2 = 150Hz | TBS CROSSFIRE RX |
| TPWR | Uplink - transmitting power | TBS CROSSFIRE TX |
| TRSS | Downlink - signal strength antenna | TBS CROSSFIRE TX |
| TQly | Downlink - link quality (valid packets) | TBS CROSSFIRE TX |
| TSNR | Downlink - signal-to-noise ratio | TBS CROSSFIRE TX |
| ANT | Sensor for debugging only | TBS CROSSFIRE TX |
| GPS | GPS Coordinates | TBS GPS / FC |
| Alt | GPS Altitudes | TBS GPS / FC |
| Sats | GPS Satellites acquired | TBS GPS / FC |
| Hdg | Magnetic orientation | TBS GPS / FC |
| RXBt | Battery voltage | TBS GPS / FC/ CROSSFIRE RX/ CORE |
| Curr | Current draw | TBS GPS / FC// CORE |
| Capa | Current consumption | TBS GPS / FC/ CORE |
| Ptch | FC Pitch angle | FC |
| Roll | FC Roll angle | FC |
| Yaw | FC Yaw angle | FC |
| FM | Flight mode | FC |
| VSPD | Barometer | FC |
## See Also
- [TBS Crossfire Manual](https://www.team-blacksheep.com/tbs-crossfire-manual.pdf)
- [ExpressLRS Documentation](https://www.expresslrs.org/quick-start/getting-started/)
- [FrSky Telemetry](../peripherals/frsky_telemetry.md)
- [Radio Control Setup](../config/radio.md)
- [Radio Control Systems](../getting_started/rc_transmitter_receiver.md)
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# CUAV P8 Telemetry Radio
CUAV P8 Radio is a long range (>60km) and high data rate (375 Kbps) remote data transmission module for drones that works plug-and-play with PX4.
It supports multiple modes such as point-to-point, point-to-multipoint, and relay communication.
![CUAV P8 Radio](../../assets/hardware/telemetry/cuav_p8_hero.png)
## 主要特性
- Long range: >60km (depending on the antenna and environment, up to 100 km).
- Supports point-to-point, point-to-multipoint, and repeater modes.
- Up to 2W power (fixed frequency 2W; frequency hopping 1W)
- Up to 345 Kbps transfer rate.
- Supports 12v~60V operating voltage.
- Unit can operate either as ground station modem or aircraft modem.
- Independent power supply for more stable operation
- USB Type-C port, integrated USB to UART converter
## 购买渠道
- [CUAV store](https://www.cuav.net/en/p8-2/)
- [CUAV alibaba](https://www.alibaba.com/product-detail/Free-shipping-CUAV-UAV-P8-Radio_1600324379418.html?spm=a2747.manage.0.0.2dca71d2bY4B0M)
## PX4 配置
The CUAV P8 Radio comes pre-configured (baud rate 57600, broadcast mode) for use with PX4.
It should require no additional setup if connected to `TELEM1` OR `TELEM2`.
On some flight controllers, or if used with a different serial port, you may need to [configure the port for MAVLink communication](../peripherals/mavlink_peripherals.md).
:::tip
[P8 Configuration](https://doc.cuav.net/data-transmission/p8-radio/en/config.html) provides full information about radio configuration, if required.
:::
## 针脚定义
![P8 pinouts](../../assets/hardware/telemetry/cuav_p8_pinouts.png)
### Data Port
| 引脚 | C-RTK GPS 6P | 引脚 | Pixhawk standard pins |
| -- | -------------------------- | -- | --------------------- |
| 1 | 5V+(NC) | 1 | VCC |
| 2 | RX | 2 | TX |
| 3 | TX | 3 | RX |
| 4 | RTS: | 4 | RTS: |
| 5 | CTS | 5 | CTS |
| 6 | GND | 6 | GND |
## 布线
![P8 wiring](../../assets/hardware/telemetry/cuav_p8_connect.png)
Connect the CUAV P8 Radio to the `TELEM1`/`TELEM2` interface of the flight controller and use a battery or BEC to power the module.
The required cables are included in the package.
:::tip
CUAV P8 Radio does not support power supply from the flight controller, it needs to be connected to a 12~60v battery or BEC.
:::
## More information
[P8 manual](http://manual.cuav.net/data-transmission/p8-radio/p8-user-manual-en.pdf)
[CUAV P8 Radio](https://doc.cuav.net/data-transmission/p8-radio/en/) (Official Guide)
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# ESP32 WiFi 模块
## 综述
ESP32 are readily available WiFi modules with dedicated UART, SPI and I2C interfaces, and full TCP/IP stack and microcontroller capability.
They usually come without firmware, but _DroneBridge for ESP32_ can be installed to enable them as a transparent and bi-directional serial to WiFi bridge.
This allows them to be used as a [WiFi telemetry](../telemetry/telemetry_wifi.md) module with any Pixhawk series controller.
They can alternatively be used in a special ESP-NOW Mode that enables ranges of up to 1km+, albeit at lower data rates.
The typical range depends on the antenna and environment:
- WiFi-Modes: ~50m-200m
- ESP-NOW Modes: 300m-1km+
### WiFi Network
_DroneBridge for ESP32_ supports standard WiFi connections to an access point but can also operate as a standalone access point.
![DroneBridge for ESP32 connection concept using WiFi](../../assets/peripherals/telemetry/esp32/db_esp32_setup.png)
### ESP-NOW Network
The ESP-NOW mode offers a connectionless and encrypted alternative to traditional WiFi.
While the data rate is reduced to < 250 kbit/s the range is increased up to 1 km.
This mode has no limit on how many autopilot clients are connected.
Only channel capacity and processing capacity limit the number of clients.
![DroneBridge for ESP32 connection concept for ESP-NOW modes](../../assets/peripherals/telemetry/esp32/db_esp32_now_illustration.png)
:::info
ESP-NOW requires ESP32 devices on the GCS side as well as on the autopilot side.
:::
## 特性
- Bidirectional: serial-to-WiFi, serial-to-WiFi Long-Range (LR), serial-to-ESP-NOW link
- Support for MAVLink, MSP, LTM or any other payload using transparent option
- Affordable, Reliable & low latency
- Weight: < 8g
- Up to 150m range using standard WiFi
- Up to 1km of range using ESP-NOW or Wi-Fi LR Mode - sender & receiver must be ESP32 with LR-Mode enabled
- Fully encrypted in all modes including ESP-NOW broadcasts secured using AES-GCM 256 bit!
- Support for drone swarms of almost any size using ESP-NOW with its custom & encrypted broadcast mode
- Supported by: QGroundControl, Mission Planner, mwptools, impload etc.
- Easy to set up: Power connection + UART connection to flight controller
- Fully configurable through an easy-to-use web interface
- Parsing of LTM & MSPv2 for more reliable connection and less packet loss
- Parsing of MAVLink with the injection of radio status packets for the display of RSSI in the GCS
- Fully transparent telemetry down-link option
:::info
[You can find all the latest information on the current version of _DroneBridge for ESP32_ on the official website.](https://dronebridge.github.io/ESP32/)
:::
## Recommended Hardware
_DroneBridge for ESP32_ can run on almost all ESP32 development boards.
Boards and modules with an external antenna connector are recommended since these will offer more range.
:::warning
Some ESP32 modules support 3.3V power supply input, while many flight controllers output at 5V (e.g. Pixhawk 4).
You will need to check compatibility and step down the voltage if needed.
:::
:::tip
The _DroneBridge for ESP32_ project recommends using [Officially Supported and Tested Boards](https://dronebridge.github.io/ESP32/).
These are small, low in price, have Pixhawk-standard port for connecting to Pixhawk flight controllers, and come with _DroneBridge for ESP32_ firmware pre-installed.
:::
Other ESP32 Boards that have been tested with versions of _DroneBridge for ESP32_ (but receive no official support):
- [ESP32-C3-DevKitM-1](https://docs.espressif.com/projects/esp-dev-kits/en/latest/esp32c3/esp32-c3-devkitm-1/index.html)
- [ESP32-S3-DevKitC-1](https://docs.espressif.com/projects/esp-dev-kits/en/latest/esp32s3/esp32-s3-devkitc-1/index.html)
- [NodeMCU ESP32S](https://www.waveshare.com/nodemcu-32s.htm)
## Installing/Updating the Firmware
An [easy-to-use online flashing tool](https://dronebridge.github.io/ESP32/install.html) is available on the official website.
Use a Chrome-based browser, connect your ESP32 via USB to your computer, and click flash!
For more detailed flashing instructions see [DroneBridge for ESP32 > Installation](https://dronebridge.gitbook.io/docs/dronebridge-for-esp32/installation) (DroneBridge Docs).
## 布线
When using one of the official boards with a Pixhawk flight controller it is as simple as plugging the provided cable from `TELEM1` on the ESP32 to the `TELEM1` or `TELEM2` port on the FC.
For ESP boards that don't have a `TELEM` port you need to manually wire to a serial port on the FC (e.g. `TELEM1` or `TELEM2`).
The diagram below provides an outline of how you would wire up the connections.
![Example for wiring an ESP32 to the TELEM port](../../assets/peripherals/telemetry/esp32/pixhawk_wiring.png)
- Connect UART of ESP32 to a UART of your autopilot (ie. `TELEM1` or `TELEM2` port).
Make sure the voltage levels match!
- RX to TX
- GND to GND
- Stable 3.3V or 5V power supply to the ESP32 (depending on the available inputs of your ESP32 and capabilities of the autopilot)
- Set the autopilot port to MAVLINK 1 or 2 protocol.
::: info
- Follow the ESP32 board manufacturer recommendations on power supply.
Some boards might have issues if they are simultaneously connected to a 5V power source and have a USB cable connected to the USB/Serial bridge (USB socket of the ESP32 dev board).
- Some ESP32 DevKits manufacturers use the wrong labels for the pins on their products.
Make sure that the PINs on your board are labelled correctly if you encounter issues.
:::
## Configuring PX4
Configure the Flight controller port that is wired to the ESP32 to have MAVLink set as the protocol and to have the same baud rate as the ESP32.
The Pixhawk `TELEM1` and `TELEM2` ports are configured for [MAVLink by default](../peripherals/mavlink_peripherals.md#default-mavlink-ports) but you will still need to set the rates.
For `TELEM1` you might set the values like this:
- `SER_TEL1_BAUD`: 115200 8N1
- `MAV_0_RATE`: 24000 (can be increased optionally)
For more information, and using other ports, see [MAVLink Peripherals](../peripherals/mavlink_peripherals.md) and [Serial Port Configuration](../peripherals/serial_configuration.md)
## Configuring DroneBridge for ESP32
Once _DroneBridge for ESP32_ is flashed it initially will provide a Wifi access point that you can connect to.
Once connected you can access the configuration page using your browser. The address of the configuration page is `http://dronebridge.local` or `192.168.2.1`.
![DroneBridge for ESP32 Webinterface](../../assets/peripherals/telemetry/esp32/dbesp32_webinterface.png)
The _DroneBridge for ESP32_ default configuration should work for connecting to PX4 "out of the box".
For the Official HW1.x Boards the configuration is: `UART TX Pin: 5`, `UART RX Pin: 4`, `UART RTS Pin: 6`, `UART CTS Pin: 7`
The only configuration that may be required is ensuring that the baud rates of the ESP32 and flight controller match.
You will want to change these settings if you want to use different pins on the ESP32, a different WiFi configuration, or to tweak the packet size.
A lower packet size means more overhead and load on the system, less latency, and faster recovery from a lost packet.
### Supported Modes
| **MavLink Index** | **DroneBridge for ESP32 Mode** | **Encryption** | **Description** | **Notes** |
| ----------------- | ------------------------------ | ------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 1 | WiFi Access Point Mode | WPA2 PSK | ESP32 launches classic WiFi access point using 802.11b rates | Any WiFi device can connect |
| 2 | WiFi Client Mode | min. WEP | ESP32 connects to an existing WiFi access point. LR Mode supported | Encryption defined by access point. Multiple drones can connect to one AP and GCS. 802.11b rates |
| 3 | WiFi Access Point Mode LR | WPA2 PSK | ESP32 launches WiFi access point mode using espressifs LR mode | Only ESP32 LR Mode enabled devices can detect and connect to the access point. Data rate is reduced to 0.25Mbit. Range is greatly increased. |
| 4 | ESP-NOW LR Mode AIR | AES256-GCM | ESP32 is able to receive ESP-NOW broadcast packets from any GCS in the area and forwards them to the UART. Broadcasts to all GND stations in the area. | Connectionless protocol. Data rate is reduced to 0.25Mbit. Range is greatly increased compared to WiFi modes. Custom encryption mode for ESP-NOW broadcasts and protocol. |
| 5 | ESP-NOW LR Mode GND | AES256-GCM | ESP32 is able to receive ESP-NOW broadcast packets from any drone in the area and forwards them to the UART. Broadcasts to all AIR stations in the area. | Connectionless protocol. Data rate is reduced to 0.25Mbit. Range greatly increased compared to WiFi modes. Custom encryption mode for ESP-NOW broadcasts and protocol. |
When changing the mode using a GCS and the MavLink parameter protocol instead of the web interface, the `MavLink Index` is the number associated with the parameter `SYS_ESP32_MODE`.
## Configuring the Ground Control Station
QGroundControl should auto-detect the connection and no further actions should be necessary (_DroneBridge for ESP32_ automatically forwards data from all connected WiFi devices via UDP to port 14550).
The following connection options are available:
- UDP unicast on port `14550` to all connected devices.
- TCP on port `5760`
### REST API
DroneBridge for ESP32 offers a REST API that allows you to read and write configuration options.
For more information see: [DroneBridge for ESP32 > Developer & API Documentation](https://dronebridge.gitbook.io/docs/dronebridge-for-esp32/developer-and-api-documentation).
## 故障处理
See [Troubleshooting & Help](https://dronebridge.gitbook.io/docs/dronebridge-for-esp32/troubleshooting-help) (DroneBridge Docs).
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# ESP8266 WiFi 模块
The ESP8266 and its clones are low-cost and readily available Wi-Fi modules with full TCP/IP stack and microcontroller capability.
They can be used with any Pixhawk series controller.
:::tip
ESP8266 is the _defacto_ default WiFi module for use with [Pixracer](../flight_controller/pixracer.md) (and is usually bundled with it).
:::
## 购买渠道
The ESP8266 module is readily available from a number of suppliers.
A few vendors are listed below.
Most modules support 3.3 V input (only), while some flight controllers (e.g. Pixhawk 4) output at 5V (you will need to check compatibility and step down the voltage if needed).
Modules that accept 3.3V supply:
- [WRL-17146](https://www.sparkfun.com/products/13678) (Sparkfun)
- [AI Cloud](https://us.gearbest.com/boards-shields/pp_009604906563.html) - discontinued (GearBeast)
Modules that accept 5.0V supply:
- [AI Thinker](https://www.banggood.com/Wireless-Wifi-to-Uart-Telemetry-Module-With-Antenna-for-Mini-APM-Flight-Controller-p-1065339.html) (Banggood)
- [AlphaUAVLink](https://www.banggood.com/MAVLink-Wifi-Bridge-2_4G-Wireless-Wifi-Telemetry-Module-with-Antenna-for-Pixhawk-APM-Flight-Controller-p-1428590.html) (Banggood)
- [Kahuna](https://www.beyondrobotix.com/products/kahuna?utm_source=px4-esp8266-docs) (Beyond Robotix)
A plug and play ESP8266 module.
The Kahuna comes with a cable to connect directly to the Pixhawk-standard `TELEM1` or `TELEM2` ports.
It is pre-flashed with the latest firmware, and has a u.fl connector for an external antenna.
At most you may need to set the baud rate parameter, which for `TELEM1` is `SER_TEL1_BAUD = 57600 (57600 8N1)`.
The [User Guide](https://docs.google.com/document/d/1VyOsp9_q6dIAdYdWuDFcWoqqrNy_vbFMANubZA3Uz5g/edit?pli=1\&tab=t.0) include WiFi setup and other relevant information.
![Kahuna ESP8266 WiFi Module](../../assets/peripherals/telemetry/esp8266/beyond_robotics_kahuna_esp8266.png)
## Pixhawk/PX4 Setup & Configuration {#px4_config}
:::tip
You _may_ first need to update the radio with PX4-compatible ESP8266 firmware ([see below](#esp8266-flashing-firmware-advanced)).
The manufacture instructions should explain if this is needed.
:::
Connect your ESP8266 to your Pixhawk-series flight controller (e.g. Pixracer) on any free UART.
Connect the flight controller to your ground station via USB (as WiFi is not yet fully set up).
使用 _QGroundControl_:
- [Load recent PX4 firmware onto the flight controller](../config/firmware.md).
- [Configure the serial port](../peripherals/serial_configuration.md) used to connect the ESP8266.
Remember to set the baud rate to 921600 in order to match the value set for the ESP8266.
- [Configure MAVLink](../peripherals/mavlink_peripherals.md) on the corresponding serial port in order to receive telemetry and transmit commands over the ESP8266.
Once you have configured the flight controller serial port used for connecting to the radio, you can remove the physical USB connection between the ground station and the vehicle.
## Connect via ESP8266 to QGC
The module exposes a WiFi hotspot that your ground station computer can use to connect to the vehicle.
:::info
The settings for the ESP8266 hotspot should be provided with the board (e.g. typically printed on the reverse side of the board or on the packaging).
A common factory network setting is:
- **SSID:** PixRacer
- **Password:** pixracer
- **WiFi Channel:** 11
- **UART speed:** 921600
Other modules may use settings like this:
- **SSID:** IFFRC_xxxxxxxx
- **Password:** 12345678
- **IP:** 192.168.4.1
- **Port:** 6789 (TCP)
Examples of boards from AlphaUILink and DOITING are shown below:
<img src="../../assets/peripherals/telemetry/esp8266/alpha_uavlink_back.jpg" width="250px" alt="AlphaUAVLink - Back"/> <img src="../../assets/peripherals/telemetry/esp8266/alpha_uavlink_front.jpg" width="250px" alt="AlphaUAVLink - Front"/> <img src="../../assets/peripherals/telemetry/esp8266/doiting_eps_12f_back.jpg" width="250px" alt="DOITING EPS 12F - Back"/> <img src="../../assets/peripherals/telemetry/esp8266/doiting_eps_12f_front.jpg" width="250px" alt="DOITING EPS 12F - Front"/>
:::
On your wifi-enabled _QGroundControl_ ground station computer/tablet, find and connect to the open wireless network for your ESP8266.
On a Windows computer the connection settings for a network with name **Pixracer** and default password **pixracer** point will look like this:
![Windows Network Setup: Connection](../../assets/peripherals/pixracer_network_setup_connection_windows.png)
![Windows Network Setup: Security](../../assets/peripherals/pixracer_network_setup_security_windows.png)
_QGroundControl_ will automatically connect to the vehicle when the ground station computer is attached to a WiFi access point named "Pixracer".
If you're using a module with any other WiFi name you will need to manually set up the QGroundControl WiFi connection, as shown in the following section.
## Configure QGC with non-standard WiFi connections
_QGroundControl_ will automatically connect to the vehicle when the ground station computer is attached to the "Pixracer" WiFi access point.
For any other access point name you will need to manually create a custom comm link:
1. Go to [Application Settings > Comm Links](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/settings_view.html)
2. Add new connection with appropriate settings.
3. Select the new connection, and click **Connect**.
4. The vehicle should now connect
## Verify
You should now see HUD movement on your QGC computer via wireless link and be able to view the summary panel for the ESP8266 WiFi Bridge (as shown below).
![QGC Summary showing Wifi Bridge](../../assets/qgc/summary/wifi_bridge.png)
:::tip
If you have any problem connecting, see [QGC Usage Problems](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/troubleshooting/qgc_usage.html).
:::
## ESP8266 Flashing/Firmware (Advanced)
ESP8266 modules from different manufacturers may not have appropriate ESP8266 firmware pre-installed.
The instructions below explain how to update radios with the correct version.
### Pre Built Binaries
[MavLink ESP8266 Firmware V 1.2.2](http://www.grubba.com/mavesp8266/firmware-1.2.2.bin)
### Build From Sources
The [firmware repository](https://github.com/dogmaphobic/mavesp8266) contains instructions and all the tools needed for building and flashing the ESP8266 firmware.
### Updating the Firmware OTA
If you have firmware 1.0.4 or greater installed, you can do the update using the ESP's _Over The Air Update_ feature.
Just connect to its AP WiFi link and browse to: `http://192.168.4.1/update`.
You can then select the firmware file you downloaded above and upload it to the WiFi Module.
:::tip
This is the easiest way to update firmware!
:::
### Flashing the ESP8266 Firmware
Before flashing, make sure you boot the ESP8266 in _Flash Mode_ as described below.
If you cloned the [MavESP8266](https://github.com/dogmaphobic/mavesp8266) repository, you can build and flash the firmware using the provided [PlatformIO](http://platformio.org) tools and environment.
If you downloaded the pre-built firmware above, download the [esptool](https://github.com/espressif/esptool) utility and use the command line below:
```sh
esptool.py --baud 921600 --port /dev/your_serial_port write_flash 0x00000 firmware_xxxxx.bin
```
Where:
- **firmware_xxxxx.bin** is the firmware you downloaded above
- **your_serial_port** is the name of the serial port where the ESP8266 is connected to (`/dev/cu.usbmodem` for example)
### 下载固件接线
:::warning
Most ESP8266 modules support 3.3 volts (only), while some flight controllers (e.g. Pixhawk 4) output at 5V.
Check compatibility and step down the voltage if needed.
:::
There are various methods for setting the ESP8266 into _Flash Mode_ but not all USB/UART adapters provide all the necessary pins for automatic mode switching.
In order to boot the ESP8266 in _Flash Mode_, the GPIO-0 pin must be set low (GND) and the CH_PD pin must be set high (VCC).
This is what my own setup looks like:
![esp8266 flashing rig](../../assets/hardware/telemetry/esp8266_flashing_rig.jpg)
I built a cable where RX, TX, VCC, and GND are properly wired directly from the FTDI adapter to the ESP8266.
From the ESP8266, I left two wires connected to GPIO-0 and CH_PD free so I can boot it either normally or in flash mode by connecting them to GND and VCC respectively.
#### ESP8266 (ESP-01) Pinout
![esp8266 wifi module pinout](../../assets/hardware/telemetry/esp8266_pinout.jpg)
#### Flashing Diagram using an FTDI USB/UART Adapter
![esp8266 flashing](../../assets/hardware/telemetry/esp8266_flashing_ftdi.jpg)
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# Holybro Microhard P900 Radio
The [Holybro Microhard P900 Radio](https://holybro.com/products/microhard-radio) integrates the [Microhard Pico Serial](http://microhardcorp.com/P900.php) P900 RF module, which is capable of delivering high-performance wireless serial communications in robust and secure mesh, point-to-point or point-to-multipoint topologies.
It enables MAVLink communication between a radio on a vehicle and a GCS.
This radio operate within the 902-928 MHz ISM frequency band, using frequency hopping spread spectrum (FHSS) technology, providing reliable wireless asynchronous data transfer between most equipment types which employ a serial interface.
The radio may be configured as a primary coordinator, secondary coordinator, standby coordinator or remote in a mesh topology, or a master, repeater or remote in a PP or PMP topology.
This versatility is very convenient for the user.
This radio is configured using AT commands through the data port or using _PicoConfig_ application through the diagnosis port.
The transmit power is software selectable from 100mW to 1W, with range up to 40 miles.
A single ground station radio can be used to communicate with multiple vehicles using point to multi-point or mesh.
Vehicles must have different MAVLINK IDs.
![Holybro Microhard Radio](../../assets/hardware/telemetry/holybro_microhard.jpg)
## 特性
- USB Type-C port, integrated USB to UART converter
- 6-position JST-GH connector, can be directly connected to the TELEM port on various Pixhawk-standard flight controllers such [Pixhawk 4](../flight_controller/pixhawk4.md) & [Pixhawk 5X](../flight_controller/pixhawk5x.md)
- High voltage BEC onboard, Support DC7~35V voltage supply
- UART transmission & Three-stage RSSI LED indicator
- Transmission within a public, license-exempt band of the radio spectrum
- Transparent, low latency link rates up to 276 Kbps
- Supports a robust true Mesh operation with auto-routing
- 32 bits of CRC, selectable retransmission and forward error correction
- Separate diagnostics port, transparent remote diagnostics and online network control
## 购买渠道
- [Holybro Microhard P900 Telemetry Radio (100mW - 1W)](https://holybro.com/products/microhard-radio)
## 技术规范
<img src="../../assets/hardware/telemetry/holybro_microhard_spec.png" width="500px" title="Holybro Microhard P900 Diagnosis" />
## Connecting
#### Vehicle Radio
This radio comes with a 6-Pin JST GH cable that can be connected to the `TELEM1` port on flight controllers that are compliant with the Pixhawk connector standard.
The radio must be separately powered via the 4-pin JST-GH XT30 power cable (7-35VDC).
#### Ground Station Radio
This radio has a internal USB to UART converter, the ground radio can be connected to the ground station via USB C.
The radio must be separately powered via the XT30 power cable (7-35VDC).
## Setup/Configuration
Holybro Microhard P900 Radios have been configured to point-to-point operating mode and 57600 serial baud rate in the factory.
This allows them to connect to the PX4 `TELEM1` port and _QGroundControl_ **without any further configuration**.
:::info
You can use a different baud rate, mode or flight controller port.
The only "requirement" is that the ground radio, air radio, PX4, and QGroundControl must all be set to the same baud rate.
:::
[Microhard Serial Telemetry Radios > Configuration](../telemetry/microhard_serial.md#configuration) explains how to configure the radios, _QGroundControl_, and PX4.
In order to configure the radios using the _PicoConfig_ application (as described in the link above) it must be connected through the diagnostic port:
<img src="../../assets/hardware/telemetry/holybro_microhard_uart converter.png" width="500px" title="Holybro Microhard P900 Diagnosis" />
The diagnostic port uses a 4-position JST SH connector.
If you use _PicoConfig_ application or special diagnostic commands to config the radio, you should connect to this port.
The diagnostic port is 3.3V logic level compatible.
A USB-to-serial board is needed for connecting the radio to your computer.
You can purchase a [Holybro UART to USB Converter](https://holybro.com/products/uart-to-usb-converter).
_Pico Config_ will automatically detect and connect to the configuration port.
Adjust the settings so that the baud rate matches PX4 (and the ground station).
Holding the **Config** button while powering-up the radio will boot the unit into COMMAND mode: the default serial interface will be active and temporarily set to operate at its default serial settings of 9600/8/N/1.
Note that it is also possible to configure the radios using AT commands through the data port.
### Default Configuration
The default radio configuration as shipped is shown in _PicoConfig_ below (you may need to reconfigure them as shown after firmware update or resetting the radio).
<img src="../../assets/hardware/telemetry/holybro_pico_config.png" width="400px" title="Holybro Pico Config" />
<img src="../../assets/hardware/telemetry/holybro_pico_config1.png" width="400px" title="Holybro Pico Config" />
In point-to-point operating modes, there must be a master to provide network synchronization for the system, so one radio should be configured to PP master and another should be configured to PP remote.
## LED 状态
<img src="../../assets/hardware/telemetry/holybro_microhard_leds.png" width="600px" title="Holybro Pico Config" />
The P900 Radio has 6 status LEDs: three are blue, two are orange, and one is green.
The meanings of the different LEDs are:
- Power LED(green)
- This LED will illuminate when the P900 Radio is connected to a power source (7-35VDC).
- TX LED (orange)
- When illuminated, this LED indicates that the Radio is transmitting data over the air.
- RX LED (orange)
- This LED indicates that the Radio is synchronized and has received valid packets.
- RSSI LEDs (3x Blue)
- As the received signal strength increases, starting with the furthest left, the number of active
- RSSI LEDs
increases. Signal strength is calculated based on the last four valid received packets with correct CRC. The value of RSSI is reported in S123.
<img src="../../assets/hardware/telemetry/holybro_microhard_led_status.png" width="600px" title="Holybro Pico Config" />
<img src="../../assets/hardware/telemetry/holybro_microhard_rssi.png" width="600px" title="Holybro Pico Config" />
### 针脚定义
#### Diagnosis Port
| 针脚 | 信号 | Voltage |
| ---------------------------- | --- | --------------------- |
| 1 | NC | -- |
| 2 (black) | RX | +3.3V |
| 3 (black) | TX | +3.3V |
| 4 (black) | GND | GND |
#### Data Port
| 针脚 | 信号 | Voltage |
| ---------------------------- | -------------------- | --------------------- |
| 1（红） | NC | -- |
| 2 (black) | RX | +3.3V |
| 3 (black) | TX | +3.3V |
| 4 (black) | CTS | +3.3V |
| 5 (black) | RTS: | +3.3V |
| 6 (black) | GND | GND |
#### Power Port
| 针脚 | 信号 | Voltage |
| ---------------------------- | ---- | ------- |
| 1（红） | BAT+ | 7-35V |
| 2 (red) | BAT+ | 7-35V |
| 3 (black) | BAT- | GND |
| 4 (black) | BAT- | GND |
<img src="../../assets/hardware/telemetry/holybro_microhard_pinout.jpg" width="600px" title="Holybro Pico Config" />
### 尺寸
<img src="../../assets/hardware/telemetry/holybro_microhard_dimension.png" width="600px" title="Holybro Pico Config" />
### Power Consumption
- Supply voltage: DC7~35V from 4-pin JST-GH to XT30 (included)
- Transmit current: 200 mA/7V at 20dBm
- 350mA/7V at 27dBm
- 800 mA/7V at 30dBm
- Receive current: 100 mA
- Weight: 42g (without antenna)
## 更多信息
- [Microhard Radio](https://docs.holybro.com/telemetry-radio/microhard-radio) (docs.holybro.com)
- [Holybro Microhard P900 Downloads](https://docs.holybro.com/telemetry-radio/microhard-radio/download) (Manuals, and other docs) (Holybro)
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# Holybro Telemetry Radio
This Holybro [SiK](../telemetry/sik_radio.md) Telemetry Radio is a small, light and inexpensive open source "plug-and-play" radio platform to connect your Autopilot Flight Controller and Ground Station.
This radio is "plug-and-play" with all flight controllers running PX4 that have a JST-GH 6 Pin Connector TELEM port ([Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards)).
It provides the easiest way to setup a telemetry connection between your flight controller and a ground station.
It uses open source firmware that has been specially designed to work well with MAVLink packets and to be integrated with the QGroundControl & PX4 Autopilot.
They typically allow ranges of better than 300m "out of the box" (the range can be extended to several kilometers with the use of a patch antenna on the ground).
The radios can be either 915 MHz (US) or 433 MHz (EU, Asia, Africa Oceania).
Note that the regions indicated above are indicative, and you should check the rules for your locale.
<img src="../../assets/hardware/telemetry/holybro_sik_radio_v3.png" width="600px" title="Sik Telemetry Radio" />
## 购买渠道
- [Holybro SiK Telemetry Radio V3](https://holybro.com/collections/telemetry-radios/products/sik-telemetry-radio-v3)
## 特性
- Open-source SiK firmware
- Plug-n-play for Pixhawk Standard Flight Controller
- Easiest way to connect your Autopilot and Ground Station
- Interchangeable air and ground radio
- Micro-USB port (Type-C Adapter Cable Included)
- 6-position JST-GH connector
## 技术规范
- 100 mW maximum output power (adjustable) -117 dBm receive sensitivity
- RP-SMA connector
- 2-way full-duplex communication through adaptive TDM UART interface
- Transparent serial link
- MAVLink protocol framing
- Frequency Hopping Spread Spectrum (FHSS) Configurable duty cycle
- Error correction corrects up to 25% of bit errors Open-source SIK firmware
- Configurable through Mission Planner & APM Planner
- FT230X USB to BASIC UART IC
## LEDs Indicators Status
The radios have 2 status LEDs, one red and one green.
The interpretation of the different LED states are:
- Green LED blinking - searching for another radio
- Green LED solid - link is established with another radio
- Red LED flashing - transmitting data
- Red LED solid - in firmware update mode
<img src="../../assets/hardware/telemetry/holybro_sik_telemetry_label.jpg" width="500px" title="Pixhawk5x Upright Image" />
## Connecting to Flight Controller
Use the 6 pin JST-GH connector that come with the radio to connect the radio to your flight controller's `TELEM1` port (`TELEM2` can also be used but the default recommendation is `TELEM1`).
## Connecting to a PC or Ground Station
Connecting the radio to your Windows PC or Ground Station is as simple as connecting the micro/type-C USB cable (Type-C adapter included with the radio) to your PC/Ground Station.
The necessary drivers should be installed automatically and the radio will appear as a new “USB Serial Port” in the Windows Device Manager under Ports (COM & LPT).
The Mission Planner's COM Port selection drop-down should also contain the same new COM port.
## Package Includes
- Radio modules with antennas \*2
- Micro-USB to USB-A cable \*1
- Micro-USB to Micro-USB OTG adapter cable \*1
- Micro USB to Type C Adapter
- JST-GH-6P to JST-GH-6P cable \*1 (for Pixhawk Standard FC)
- JST-GH-6P to Molex DF12 6P (for Pix32, Pixhawk 2.4.6, etc.)
<img src="../../assets/hardware/telemetry/holybro_sik_radio_v3_include.png" width="600px" title="Sik Telemetry Radio" />
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# Holybro XBP9X Telemetry Radio (Discontinued)
Holybro XBP9X radio can be configured easily using Digi's free XCTU software or via Digi's simplified AT or API command sets.
The radio provides secure, reliable delivery of critical data between devices with 256-bit AES encryption.
![Holybro XBP9X Radio](../../assets/hardware/telemetry/holybro-xbp9x.jpg)
With RF line-of-sight ranging up to 65 miles/100km and strong interference blocking capability, the radios are ideal for those applications requiring the combination of range, data redundancy and data reliability.
**Features:**
- USB Type-C port, integrated USB to UART converter
- 6-position JST-GH connector, can be directly connected to pixhawk4 flight controller
- High voltage BEC on board, Support DC7~35V voltage supply
- Can be powered by USB or flight controller in 100mW transmit power mode
- UART transmission LED indicator
- Three-stage RSSI LED indicator
- 256-bit AES encryption for secure data communications
- DigiMesh networking topology for redundancy and reliability
- Fully certified for use in unlicensed 900 MHz band
## 购买渠道
Discontinued (no longer available at Holybro).
## 产品规格
![Holybro XBP9X Radio](../../assets/hardware/telemetry/holybro-xbp9x-spec.png)
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# 数传电台模块
Telemetry Radios can (optionally) be used to provide a wireless MAVLink connection between a ground control station like _QGroundControl_ and a vehicle running PX4. 这使得在飞行过程中调整参数，实时监视遥测信息，更改任务等成为可能。
PX4支持多种类型数传电台：
- [SiK Radio](../telemetry/sik_radio.md) based firmware (more generally, any radio with a UART interface should work).
- [RFD900 Telemetry Radio](../telemetry/rfd900_telemetry.md)
- [HolyBro SiK Telemetry Radio](../telemetry/holybro_sik_radio.md)
- <del>_HKPilot Telemetry Radio_</del> (Discontinued)
- <del>_3DR Telemetry Radio_</del> (Discontinued)
- [Telemetry Wifi](../telemetry/telemetry_wifi.md)
- [Microhard Serial Telemetry Radio](../telemetry/microhard_serial.md)
- [ARK Electron Microhard Serial Telemetry Radio](../telemetry/ark_microhard_serial.md)
- [Holybro Microhard P900 Telemetry Radio](../telemetry/holybro_microhard_p900_radio.md)
- CUAV Serial Telemetry Radio
- [CUAV P8 Telemetry Radio](../telemetry/cuav_p8_radio.md)
- XBee Serial Telemetry Radio
- [HolyBro XBP9X Telemetry Radio](../telemetry/holybro_xbp9x_radio.md) (Discontinued)
PX4 is protocol compatible with [SiK Radio](../telemetry/sik_radio.md) and will generally work out of the box (though you may need to change/use an appropriate connector).
WIFI 数传通常具有更短的范围、更高的数据速率，并且可以更轻松地支持FPV/视频源。
Wifi电台的一个好处是, 您只需为您的车辆购买一个无线电设备（假设地面站已经有WIFI）。
:::info
PX4 does not support connecting an LTE USB module to the flight controller (and sending MAVLink traffic via the Internet).
You can however connect an LTE module to a companion computer and use it to route MAVLink traffic from the flight controller.
For more information see: [Companion Computer Peripherals > Data Telephony](../companion_computer/companion_computer_peripherals.md#data-telephony-lte).
:::
## Allowed Frequency Bands
Radio bands allowed for use with drones differ between continents, regions, countries, and even states.
You should select a telemetry radio that uses a frequency range that is allowed in the areas where you plan on using the drone.
Low power [SiK radios](../telemetry/sik_radio.md), such as the [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md), are often available in 915 MHz and 433 MHz variants.
While you should check applicable laws in your country/state, broadly speaking 915 MHz can be used in the US, while 433 MHz can be used in EU, Africa, Oceania, and most of Asia.
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# Microhard Serial Telemetry Radios
[Microhard Pico Serial Radios](http://microhardcorp.com/P900.php) integrate the [Microhard Pico Serial](http://microhardcorp.com/P900.php) P900 RF module.
This is a relatively small size and low cost radio that supports modes including point to point, point to multi-point, and mesh modes.
It has configurable power output and can also be configured to use forward error correction.
Radios can also be ordered that support secure/encrypted channels, although this is subject to export restriction.
Manufacturers typically default-configure the radios in peer-to-peer mode and match the baud rate expected by PX4 and _QGroundControl_ (57600 baud).
This allows plug and play telemetry when the radios are connected to the usual telemetry ports on a Pixhawk flight controllers (`TELEM1` or `TELEM2`) along with auto-detection of the connection in _QGroundControl_.
Several manufacturers provide solutions based on these radios:
- [ARK Electron Microhard Serial Telemetry Radio](../telemetry/ark_microhard_serial.md)
- [Holybro Microhard P900 Telemetry Radio](../telemetry/holybro_microhard_p900_radio.md)
## Range Tradeoffs
The radio range depends on a number of factors, including: baud rate, power output, mode, whether forward error connection is enabled, whether encryption is enabled, antenna used etc.
The selection of these parameters is a tradeoff:
- increasing baud rate decreases radio range.
- increasing radio power increases range, but decreases flight time.
- point to multipoint means you can have a single ground station talking to multiple vehicles, but increases the bandwidth on the channel.
- mesh configurations provide similar convenience and cost.
The maximum range quoted in specifications is around 60km.
ARK Electron suggest an approximate range of 8km with output power set to 1W is 8km and using default settings.
## 配置
For convenience, radios are usually default-configured so that they can be used with PX4 and _QGroundControl_ out of the box.
Developers can modify the configuration.
The only "requirement" is that the: ground radio, air radio, PX4, and _QGroundControl_ must all be set to use the **same** baud rate (and of course each MAVLink system must have a unique System ID).
### PX4 配置
PX4 is configured to use `TELEM1` for telemetry radios, with a default baud rate of 57600.
You can configure PX4 to use any other free serial port a different baud rate, by following the instructions in [MAVLink Peripherals](../peripherals/mavlink_peripherals.md).
### QGroundControl Configuration
QGroundControl autodetects a serial telemetry connection with the baud rate 57600.
For any other rate you will need to add a serial comms link that sets the rate that was used.
See [Application Settings > Comms Links](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/settings_view.html).
### Radio Configuration
Microhard serial radios are configured using the _PicoConfig_ application (Windows only).
This can be downloaded here: [PicoConfig-1.7.zip](https://arkelectron.com/wp-content/uploads/2021/04/PicoConfig-1.7.zip) (ARK Electron) or [picoconfig-1-10](https://docs.holybro.com/telemetry-radio/microhard-radio/download) (Holybro).
In point-to-point operating modes, there must be a master to provide network synchronization for the system, so one radio should be configured to PP master and another should be configured to PP remote.
The screen shots below show the default radio configuration settings for connecting to PX4 and _QGroundControl_.
<img src="../../assets/hardware/telemetry/holybro_pico_config.png" width="400px" title="Holybro Pico Config" />
<img src="../../assets/hardware/telemetry/holybro_pico_config1.png" width="400px" title="Holybro Pico Config" />
The [Pico Series P900.Operating Manual.v1.8.7](https://github.com/PX4/PX4-user_guide/raw/main/assets/hardware/telemetry/Pico-Series-P900.Operating-Manual.v1.8.7.pdf) has additional information on radio configuration (including mesh and multipoint modes).
### Mesh and Multipoint Modes
Mesh and point to multi-point modes are supported, but all vehicles must have a unique Mavlink ID.
Anecdotally:
- At the highest link rate, with no FEC, we can have 201 drones in one mesh system transmitting 80 bytes once a second.
- You can have multiple networks working together at the same time without mutual interference using "co-located systems".
For example, to deploy more than 500 vehicles you would need to deploy three P900 mesh coordinators, each serving up to 201 drones in their respective local networks.
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# RFD900长距离数传
[jDrones](http://store.jDrones.com) and [RFDesign](http://rfdesign.com.au/) offer _long-range_ [SiK](../telemetry/sik_radio.md)-compatible telemetry radios.
这个电台配合普通天线可以提供最少5公里的稳定链接。
![jDrones Long Range Telemetry](../../assets/hardware/telemetry/jdrones_long_range_uav_telemetry_rf900set02_2.jpg)
:::tip
_jDrones_ have productized _RFDesign_ modems (added a casing with power management, filtering and other electronics inside, along with cables to connect to popular flight controllers, and individually validated antennas).
The first such modem was the _RFD900_, but both _RFDesign_ and _jDrones_ have since iterated to new versions.
:::
The _jDrones_ radios have a JST-GH connector, and come with cables for: _JST-GH to JST-GH_ and _JST-GH to DF-13_. They can therefore be used in a "plug-n-play" way with most [Pixhawk Series](../flight_controller/pixhawk_series.md) controllers (you might have to change/use an appropriate connector for some "non-standard" boards).
There are a number of versions available:
- [jD-RF900Plus Longrange (900Mhz)](http://store.jdrones.com/jD_RD900Plus_Telemetry_Bundle_p/rf900set02.htm) (USA)
- [jD-RF868Plus Longrange (868Mhz)](http://store.jdrones.com/jD_RD868Plus_Telemetry_Bundle_p/rf868set02.htm) (Europe)
- [store.rfdesign.com.au](https://store.rfdesign.com.au/radio-modems/):
- [RFD 900+ Modem](https://store.rfdesign.com.au/rfd-900p-modem/)
- [RFD 868x Modem (EU)](https://store.rfdesign.com.au/rfd868x-eu-hs-8517-62-00-90/)
- [RFD900x](https://store.rfdesign.com.au/rfd-900x-modem-hs-8517-62-00-90/)
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# SiK 电台
[SiK radio](https://github.com/LorenzMeier/SiK) is a collection of firmware and tools for telemetry radios.
PX4 is protocol-compatible with radios that use _SiK_.
SiK Radios often come with appropriate connectors/cables allowing them to be directly connected to [Pixhawk Series](../flight_controller/pixhawk_series.md) controllers
(in some cases you may need to obtain an appropriate cable/connector).
Typically you will need a pair of devices - one for the vehicle and one for the ground station.
Hardware for the SiK radio can be obtained from various manufacturers/stores in variants that support different range and form factors.
![SiK Radio](../../assets/hardware/telemetry/holybro_sik_radio.jpg)
## Vendors
- [RFD900 Telemetry Radio](../telemetry/rfd900_telemetry.md)
- [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)
- <del>_HKPilot Telemetry Radio_</del> (Discontinued)
- <del>_3DR Telemetry Radio_</del> (Discontinued)
## Setup/Configuration
The ground station-based radio is connected via USB (essentially plug-n-play).
The vehicle-based radio is connected to the flight-controller's `TELEM1` port, and typically requires no further configuration.
## 固件更新
Hardware sourced from most [vendors](#vendors) should come pre-configured with the latest firmware.
You may need to update older hardware with new firmware, for example to gain support for MAVLink 2.
You can update the radio firmware using _QGroundControl_: [QGroundControl User Guide > Loading Firmware](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/firmware.html).
## 高级安装/配置
The Development section has [additional information](../data_links/sik_radio.md) about building firmware and AT-command based configuration.
This should not be required by non-developers.
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# WiFi 数传电台
WiFi telemetry enables MAVLink communication between a WiFi radio on a vehicle and a GCS.\
WiFi typically offers shorter range than a normal telemetry radio, but supports higher data rates, and makes it easier to support FPV/video feeds.
Usually only a single radio unit for the vehicle is needed (assuming the ground station already has WiFi).
PX4 supports telemetry via UDP and Wifi. It broadcasts a heartbeat to port 14550 on 255.255.255.255 until it receives the first heartbeat from a ground control station, at which point it will only send data to this ground control station.
兼容的 WiFi 数传模块有：
- [ESP8266 WiFi Module](../telemetry/esp8266_wifi_module.md)
- [ESP32 WiFi Module](../telemetry/esp32_wifi_module.md)
- [3DR Telemetry Wifi](../telemetry/3dr_telemetry_wifi.md) (Discontinued)