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- added XBee SX 868 example config
- reformatted XBee ZB table for better readability
- some consistency typo changes
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Telemetry-XBee
==============

XBee radios (also known as ZigBee radios) are generally not recommended
over the :ref:`SiK Radio <common-sik-telemetry-radio>`
and :ref:`RFD900 Radio <common-rfd900>`. Still there may be some
situations where only an XBee can be used so these high-level
instructions could be helpful.
XBee radios (also known as ZigBee radios) are generally not recommended over
the :ref:`SiK Radio <common-sik-telemetry-radio>` and
:ref:`RFD900 Radio <common-rfd900>`. Still there may be some situations where
only an XBee can be used so these high-level instructions could be helpful.

.. image:: ../../../images/Telemetry_XBee_Pixhawk.jpg
:target: ../_images/Telemetry_XBee_Pixhawk.jpg
Expand All @@ -17,99 +16,129 @@ Where to Buy
============

XBee radios are available from
`Sparkfun <https://www.sparkfun.com/categories/111>`__ and many other
robotics stores globally. Generally you will need two XBee radiios (one
for the ground station and one for the vehicle) along with two different
adapter boards. `One with a USB connection <https://www.sparkfun.com/products/11812>`__ for the ground
station computer and `another with a serial connection <https://www.sparkfun.com/products/11373>`__ which can be
connected to the autopilot as shown above.
`Sparkfun <https://www.sparkfun.com/categories/111>`__ and many other robotics
stores globally. Generally you will need two XBee radiios (one for the ground
station and one for the vehicle) along with two different adapter boards.
`One with a USB connection <https://www.sparkfun.com/products/11812>`__ for the
ground station computer and `another with a serial connection
<https://www.sparkfun.com/products/11373>`__ which can be connected to the
autopilot as shown above.

Configuration
=============

Click on the diagram at the top of this page to see the individual wire
connections that must be made between the autopilot and Xbee
module. Note that in the diagram above only 4 wires are connected (GND,
5V, Transmit, Receiver). The CTS and RTS (Ready-to-send) pins are left
unconnected because although connecting them should improve the data
rate during the creation of this wiki page we were unable to
successfully connect.

With the CTS and RTS pins disconnected the BRD_SER1_RTSCTS (if using
Telem1) or BRD_SER2_RTSCTS (if using Telem2) should be set to zero
(after making the change the autopilot will need to be
restarted).
connections that must be made between the autopilot and Xbee module.
Note that in the diagram above only 4 wires are connected (GND, 5V, Transmit,
Receiver).
The CTS and RTS (Ready-to-send) pins are left unconnected because although
connecting them should improve the data rate during the creation of this wiki
page we were unable to successfully connect.
With the CTS and RTS pins disconnected the BRD_SER1_RTSCTS (if using Telem1) or
BRD_SER2_RTSCTS (if using Telem2) should be set to zero (after making the change
the autopilot will need to be restarted).

.. image:: ../../../images/Telemetry_XBee_MPSetup.jpg
:target: ../_images/Telemetry_XBee_MPSetup.jpg

The
`X-CTU <https://www.digi.com/products/xbee-rf-solutions/xctu-software/xctu>`__
application can be used to configure the XBee modules. In particular
they should be set to transmit at 57600 baud.

The following parameters can be set in the XCTU application. In addition, it has a track record of use in XBee ZB（S2C）.
Example of xbee setting parameters.(if. PC's MAC:0013A2004567EFGH , Pixhawk's xbee MAC:0013A2004567WXYZ)

+-------------------+--------------------------------------------+---------------------------------------------+
| | Setting Parameter |
+ +--------------------------------------------+---------------------------------------------+
| Category | PC's xbee | Pixhawk's xbee |
+===================+============================================+=============================================+
| Networking |ID=1234,SC=7FFF,SD=3,ZS=0,NJ=FF,NW=0,JV=[0],|ID=1234,SC=7FFF,SD=3,ZS=0,NJ=FF,NW=0,JV=[0], |
| |JN=[0],CE=[1],DO=0,DC=0 |JN=[0],CE=[0],DO=0,DC=0 |
+-------------------+--------------------------------------------+---------------------------------------------+
| Addressing |DH=13A200,DL=4567WXYZ,NI=xbeepc,NH=30,BH=0, |DH=13A200,DL=4567EFGH,NI=xbeehawk,NH=30,BH=0,|
| |AR=FF,DD=A0000,NT=3C,NO=0,CR=3 |AR=FF,DD=A0000,NT=3C,NO=0,CR=3 |
+-------------------+--------------------------------------------+---------------------------------------------+
| ZigBee Addressing |SE=E8,DE=E8,CI=11,TO=0 |SE=E8,DE=E8,CI=11,TO=0 |
+-------------------+--------------------------------------------+---------------------------------------------+
| RF Interfacing |PL=Highest[4],PM=Boost Mode Enabled[1] |PL=Highest[4],PM=Boost Mode Enabled[1] |
+-------------------+--------------------------------------------+---------------------------------------------+
| Security |EE=[0],EO=0,KY=0,NK=0 |EE=[0],EO=0,KY=0,NK=0 |
+-------------------+--------------------------------------------+---------------------------------------------+
| Serial Interfacing|BD=57600[6],NB=[0],SB[0],RO=3,D6=[0], |BD=57600[6],NB=[0],SB[0],RO=3,D6=[0], |
| |D7=[0],AP=Transparent mode[0],AO=Native[0] |D7=[0],AP=Transparent mode[0],AO=Native[0] |
+-------------------+--------------------------------------------+---------------------------------------------+
| AT Command Options|CT=64,GT=3E8,CC=2B |CT=64,GT=3E8,CC=2B |
+-------------------+--------------------------------------------+---------------------------------------------+
| Sleep Modes |SP=20,SN=1,SM=No Sleep(Router)[0], |SP=20,SN=1,SM=No Sleep(Router)[0], |
| |ST=1388,SO=0,WH=0,PO=0 |ST=1388,SO=0,WH=0,PO=0 |
+-------------------+--------------------------------------------+---------------------------------------------+
| I/O Setting |D0=Commissioning Button[1],D1=[0],D2=[0], |D0=Commissioning Button[1],D1=[0],D2=[0], |
| |D3=[0],D4=[0],D5=Associated indicator[1], |D3=[0],D4=[0],D5=Associated indicator[1], |
| |D8=Sleep_Rq[1],D9=Awake/Asleep indicator[1],|D8=Sleep_Rq[1],D9=Awake/Asleep indicator[1], |
| |P0=RSSI PWM Output[1],P1=[0],P2=[0], |P0=RSSI PWM Output[1],P1=[0],P2=[0], |
| |P3=DOUT[1],P4=DIN[1],PR=1FBF,PD=1FFF,LT=0, |P3=DOUT[1],P4=DIN[1],PR=1FBF,PD=1FFF,LT=0, |
| |RP=28 |RP=28 |
+-------------------+--------------------------------------------+---------------------------------------------+
| I/O Sampling |IR=0,IC=0,V+=0 |IR=0,IC=0,V+=0 |
+-------------------+--------------------------------------------+---------------------------------------------+
application can be used to configure the XBee modules.

Xbee ZB (S2C)
=============

Settings for an Xbee ZB (S2C) module.

+-------------------+-----------------------------------------------+-----------------------------------------------+
| | Setting Parameters |
+ +-----------------------------------------------+-----------------------------------------------+
| Category | PC's XBee | Pixhawk's XBee |
+===================+===============================================+===============================================+
| Networking |ID=1234, SC=7FFF, SD=3, ZS=0, NJ=FF, NW=0, |ID=1234, SC=7FFF, SD=3, ZS=0, NJ=FF, NW=0, |
| |JV=[0], JN=[0], CE=[1], DO=0, DC=0 |JV=[0], JN=[0], CE=[0], DO=0, DC=0 |
+-------------------+-----------------------------------------------+-----------------------------------------------+
| Addressing |DH=13A200, DL=<SL of Pixhawk's XBee>, |DH=13A200, DL=<SL of PC's XBee>, NI=xbeehawk, |
| |NI=xbeepc, NH=30, BH=0, AR=FF, DD=A0000, |NH=30, BH=0, AR=FF, DD=A0000, NT=3C, NO=0, |
| |NT=3C, NO=0, CR=3 |CR=3 |
+-------------------+-----------------------------------------------+-----------------------------------------------+
| ZigBee Addressing |SE=E8, DE=E8, CI=11, TO=0 |SE=E8, DE=E8, CI=11, TO=0 |
+-------------------+-----------------------------------------------+-----------------------------------------------+
| RF Interfacing |PL=Highest[4], PM=Boost Mode Enabled[1] |PL=Highest[4], PM=Boost Mode Enabled[1] |
+-------------------+-----------------------------------------------+-----------------------------------------------+
| Security |EE=[0], EO=0, KY=0, NK=0 |EE=[0], EO=0, KY=0, NK=0 |
+-------------------+-----------------------------------------------+-----------------------------------------------+
| Serial Interfacing|BD=57600[6], NB=[0], SB[0], RO=3, D6=[0], |BD=57600[6], NB=[0], SB[0], RO=3, D6=[0], |
| |D7=[0], AP=Transparent mode[0], AO=Native[0] |D7=[0], AP=Transparent mode[0], AO=Native[0] |
+-------------------+-----------------------------------------------+-----------------------------------------------+
| AT Command Options|CT=64, GT=3E8, CC=2B |CT=64, GT=3E8, CC=2B |
+-------------------+-----------------------------------------------+-----------------------------------------------+
| Sleep Modes |SP=20, SN=1, SM=No Sleep(Router)[0], |SP=20, SN=1, SM=No Sleep(Router)[0], |
| |ST=1388, SO=0, WH=0, PO=0 |ST=1388, SO=0, WH=0, PO=0 |
+-------------------+-----------------------------------------------+-----------------------------------------------+
| I/O Setting |D0=Commissioning Button[1], D1=[0], D2=[0], |D0=Commissioning Button[1], D1=[0], D2=[0], |
| |D3=[0], D4=[0], D5=Associated indicator[1], |D3=[0], D4=[0], D5=Associated indicator[1], |
| |D8=Sleep_Rq[1], D9=Awake/Asleep indicator[1], |D8=Sleep_Rq[1], D9=Awake/Asleep indicator[1], |
| |P0=RSSI PWM Output[1], P1=[0], P2=[0], |P0=RSSI PWM Output[1], P1=[0], P2=[0], |
| |P3=DOUT[1], P4=DIN[1], PR=1FBF, PD=1FFF, LT=0, |P3=DOUT[1], P4=DIN[1], PR=1FBF, PD=1FFF, LT=0, |
| |RP=28 |RP=28 |
+-------------------+-----------------------------------------------+-----------------------------------------------+
| I/O Sampling |IR=0, IC=0, V+=0 |IR=0, IC=0, V+=0 |
+-------------------+-----------------------------------------------+-----------------------------------------------+


Xbee SX 868
=============

Example for XBee SX 868 (based on Firmware A00A).
Everything is kept at default except the listed settings.
Make sure to set the baud rate of the used telemetry port to 230400 and disable
the rtscts setting as described above.

+--------------------+--------------------------------------------+--------------------------------------------+
| | Setting Parameters |
+ +--------------------------------------------+--------------------------------------------+
| Category | PC's XBee | Pixhawk's XBee |
+====================+============================================+============================================+
| MAC/PHY | ID=<your network ID here, e.g. 1234>, MT=0 |
+--------------------+--------------------------------------------+--------------------------------------------+
| Network |NH=1 |
+--------------------+--------------------------------------------+--------------------------------------------+
| Addressing |DH=<SH of Pixhawk's XBee>, | DH=<SH of PC's XBee>, |
| |DL=<SL of Pixhawk's XBee>, | DL=<SL of PC's XBee>, |
| |TO=40, | TO=40, |
| |NI=<name of your choice, e.g. pc_xbee> | NI=<name of your choice, e.g. pixhawk_xbee>|
+--------------------+--------------------------------------------+--------------------------------------------+
| Serial Interfacing |BD=230400 |
+--------------------+--------------------------------------------+--------------------------------------------+
| I/O Settings |D7=Disable |
+--------------------+--------------------------------------------+--------------------------------------------+
| Sleep Commands |SP=0 |
+--------------------+--------------------------------------------+--------------------------------------------+

Connecting to the Ground Station
================================

If you're using a USB adapter, simply connect it via a USB cable as
shown:
If you're using a USB adapter, simply connect it via a USB cable as shown:

.. image:: ../../../images/xbee_usb_connection.jpg
:target: ../_images/xbee_usb_connection.jpg

If you're using an XtreamBee adapter on the ground side, connect it to a
FTDI cable as shown below and plug that into your USB port. The adapter
should also be in Master mode.
If you're using an XtreamBee adapter on the ground side, connect it to a FTDI
cable as shown below and plug that into your USB port. The adapter should also
be in Master mode.

.. figure:: ../../../images/XtreemBee.jpg
:target: ../_images/XtreemBee.jpg

XBee with XtreemBee Adapter

Once properly configured you should be able to connect to the vehicle
from the ground station (i.e. Mission Planner) by selecting the
appropriate COM port for the XBee and selecting the baud rate of 57600.
If the connection is successful but the download of parameter stalls
please see the notes above re CTS and RTS.
Once properly configured you should be able to connect to the vehicle from the
ground station (i.e. Mission Planner) by selecting the appropriate COM port for
the XBee and selecting the baud rate of 57600 (or whatever you programmed PC's
XBee to).
If the connection is successful but the download of parameter stalls please see
the notes above regarding CTS and RTS.

.. image:: ../../../images/Telemetry_XBee_MPConnect.jpg
:target: ../_images/Telemetry_XBee_MPConnect.jpg

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