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Added XBee SX 868 Example Config #6352

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Update common-telemetry-xbee.rst
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150 changes: 89 additions & 61 deletions common/source/docs/common-telemetry-xbee.rst
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Expand Up @@ -4,11 +4,10 @@
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 @@ -17,12 +16,13 @@ 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
=============
Expand All @@ -45,71 +45,99 @@ restarted).

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 a

+-------------------+-----------------------------------------------+-----------------------------------------------+
| | 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 |
+-------------------+-----------------------------------------------+-----------------------------------------------+


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 re CTS and RTS.

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