ATOM UAV MANUAL
Date: 2021-09-30
Version: 0.8
Page: 7 of 20
FLARM Technology Ltd
Hinterbergstrasse 15
CH-6330 Cham
Document Number:
FTD-088
2
Interfaces
The Atom UAV can provide traffic information on both the USB connector and
JST/TFM connector and provides different protocols.
Please note that currently the external GNSS source is activated by enabling the
EXG license. In order to use the internal GNSS source, the EXG license needs to
be disabled. A description on how this is done is provided in Sections 3.3 and 3.4
of this document. In future releases, this will be simplified.
2.1
MAVLink Interface
MAVLink
4
is a protocol used by many popular flight control systems for drones,
e.g. PX4, ArduPilot and more. MAVLink connectivity is available on the JST GH
UART connector only, if enabled in the HUB firmware. The messages HEARTBEAT
and ADSB_VEHICLE are published to output traffic information. Baud rate is set to
115200 (8N1).
The system ID (sysid) is adapted from the MAVLink master (usually the autopilot).
The compid is fixed to MAV_COMP_ID_FLARM (160).
2.1.1
Integration with PX4
Wire up the JST/TFM MAVLink connector to the TELEM2 port on the pixhawk (RX
and TX lines need to be crossed).
Configure the following parameters with a Ground control software (Tested with
QGroundControl):
MAV_1_CONFIG: TELEM 2
MAV_1_FORWARD: 1
MAV_1_MODE: OSD
SER_TEL2_BAUD: 115200 8N1
Atom UAV will consume HEARTBEAT messages. The MAV mode “MAV_1_MODE:
OSD” also provides SYSTEM_TIME and GPS_RAW_INT messages, needed for
2.1.2, while sending minimal other messages.
Atom UAV will emit ADSB_VEHICLE messages for each received target from either
FLARM or ADS-B.
The interface functionality has been verified on PX4 v1.11.1.
4
https://mavlink.io/en/
