Release Notes

ATOM UAV MANUAL

Date:

2022

Version: 1.3

Page: 21 of 39

FLARM Technology

Ltd

Hinterbergstrasse 15

CH-6330 Cham

Document Number:

FTD-088

5 Interfaces

The Atom UAV can provide traffic information on both the USB connector and

JST/TFM connector and provides different protocols. Furthermore, MAVLink can be

used to provide the navigation solution to Atom UAV, e.g., if a high-quality

navigation source is already present on the vehicle.

5.1 MAVLink Interface

MAVLink

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/TFM UART connector, if enabled in the HUB firmware. The HEARTBEAT and

ADSB_VEHICLE messages are published to output traffic information. The 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).

5.1.1 Integration with PX4

Wire up the JST/TFM MAVLink connector to the TELEM1 (or TELEM2) port on the

Pixhawk controller (RX and TX lines need to be crossed, a cable is provided in the

Atom UAV standalone variant).

Configure the following parameters with a Ground control software (tested with

QGroundControl):

 MAV_1_CONFIG: TELEM 1 (or TELEM 2)

 MAV_1_FORWARD: 1

 MAV_1_MODE: OSD

 SER_TEL1_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 using

external navigation information on the Atom UAV (described in Section 5.1.2),

while sending minimal other messages.

Atom UAV will emit ADSB_VEHICLE messages for each received target from either

FLARM, ADS-B or Remote ID.

The interface functionality has been verified on PX4 v1.11.1.

https://mavlink.io/en/