Table of Contents
MavLink basics
- By default TAG-E uses MAV_COMP_ID_CAMERA
- For highest geotagging accuracy TAG-E needs:
- Working TIMESYNC protocol
- Receive SYSTEM_TIME packets at 1Hz
- Receive GPS_RAW_INT (freq. depends on configuration)
- Receive GLOBAL_POSITION_INT (freq. depends on configuration)
- Receive ATTITUDE packets at 10Hz
- Messages are also automatically requested by command long SET_MESSAGE_INTERVAL
- If SET_MESSAGE_INTERVAL protocol is supported by your FC firmware, TAG-E will request all data automatically (Ardupilot/PX4)
Mavlink connection #
STEP 1
- Connect Mavlink cable to IO-B connector of TAG-E unit.
- Make sure you do not use excessive force to the connector.
- If you feel resistance, make sure the connector is inserted perfectly straight.
- By default is IO-B configured for Mavlink connection
- Default baudrate is 921 600 bps (fw 0_193 and later)
- or 230 400 bps for older firmwares
- If you will need to customize cable, please see TAG-E pinout description
STEP 2
- Connect Mavlink cable to your flight controller
- Use TELEM1 or TELEM2 depending on your choose
- For this manual we will use TELEM2
STEP 3
- Connect your Cube to the PC and connect it via QGC
- Navigate to parameter SER_TEL1_BAUD or SER_TEL2_BAUD depending on your port connection
- Set parameter to 921 600 bps (or 230 400 bps for older units)
- MAV_1_CONFIG (or MAV_2_CONFIG) should be set to “TELEM 1” or “TELEM 2” depending on selection in STEP 2
STEP 4
- Now reboot the Cube
- After reboot, you will se additional parameters of selected MAV instance
STEP 5
- MAV_1_MODE (or MAV_2_MODE) should be set to “OnBoard“
- MAV_1_RATE (or MAV_2_RATE) should be set to “0“
- MAV_1_FORWARD (or MAV_2_FORWARD) should be set to “Enabled“
STEP 5a
For ground control telelmetry link, use following parameters. This is important to avoid bus overload:
- SER_TELx_BAUD – 921600 bps
- MAV_x_MODE – “Normal“
- MAV_x_RATE – “0“
- MAV_x_FORWARD – “Enabled“
STEP 6
- Now reboot the Cube
STEP 6
- Reconnect the QGC or MissionPlanner to the Cube (MP is suggested)
- In MP you will see “CAMERA” in device selection box, than connection is successfull
- In QGC you will see workign camera control UI module at the right, than connection is successful
- If your unit uses 230 400 bps, follow configuration to set baudrate 921 600 bps!
- This is crucial to keep MavLink working without packet drops and other issues.
Change baudrate to 921 600 bps #
If you bought unit with default baudrate of 230 400bps this step is very important and needs to be done for stable connection. Baudrate of 921 600 bps is necessary to avoid packet drops in the Cube, because with lower baudrates may occur frequent missing triggers or GPS data dropouts. This step is only valid for direct connection of TAG-E to PX4.
If Gremsy is used as forwarding unit, this setting is not expected. Please follow dedicated manual for TAG-E installation with Gremsy in this case.
Tricky point!
Playing with baudrate of main connection may result to lost control above TAG-E. For this case there is an option to reset TAG-E to factory default via fron-face hidden button.
Follow this procedure to reset factory default.
STEP 1
- Navigate to Vehicle settings
- Open parameters
- Select Component ID of TAG-E
STEP 2
- Expand IO-B
- Select IOB_BAUD parameter
- Write value of 9216
- Confirm by pressing ENTER
- DO NOT REBOOT TAG-E during next steps
- At this point you’ve lost connection to TAG-E because it started using new baudrate immediately, however you have to save settings to be valid also after reboot
STEP 3
- Now switch to parameters of flightcontroller
- Navigate to parameter SER_TEL1_BAUD or SER_TEL2_BAUD depending on your port connection
- Set parameter to 921 600 bps
- Reboot flightcontroller only!
STEP 4
- Wait until QGC reconnects to your flight controller
- Control above TAG-E should be now regained
STEP 5
- Now navigate back to params of TAG-E
- Set FW-SAVE_CFG param to 1
- Click Save
You are done, configuration is now permanently set to 921 600 bps
GPS link delay calculation
Once you passed all installation steps, we strongly suggest to do GPS link delay calculation for optimal result at your machine. GPS Link delay is specific for each machine and needs to be calculated per user.
GPS Link delay calculation manual
GPS Link delay calculation manual
