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 or 230 400 bps
- 921600 is default from FW 0_193 and later
- 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 Mission Planner
- Open Settings bookmark
- From left MENU select FULL PARAMETER TREE
- Find section named SERIALx (x is number of port you used)
- Configure proper Telemetry port to the budrate of 921 600 bps
- or 230 400 bps for previous TAG-E firmwares
- Configure proper Telemetry port to the MavLink2 protocol
STEP 4
- Search section named SRx (x is number of port you used)
- Make sure all SRx parameters are set to 0
STEP 5
- Click to “Write params” button and check for confirmation that all parameters has been updated in your Cube
- Now reboot the Cube
STEP 6
- Reconnect the MissionPlanner to the Cube
- Now you will see “CAMERA” in device selection box
- TAG-E is now sucesfully connected to the Cube
- If your default baud was 230 400, follow next part to set 921 600 bps!
- This is crucial to keep MavLink working without packet drops and other issues.
Change baudrate to 921 600bps #
This step is important for older firmwares with default baudrate of 230 400bps. 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.
Update your TAG-E to 0_193 or later to support 921 600 bps!
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
- Select “CAMERA” in device selection box
- Navigate to “parameter tree” configuration
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
STEP 3
- Click to Write params and waif for confirmation
- No need to reboot at this point
- You will get error message:
- Set IOB_BAUD failed
- That is correct behavior, as Baudrate in the TAG-E has changed and communication has been lost
STEP 4
- Now switch back to your flightcontroller connection
- Open parameters tree again
STEP 5
- Now switch back to your flightcontroller connection
- Open parameters tree again
- Open SERIALx_BAUD parameter
- Configure to 921
- Confirm by ENTER
STEP 6
- Confirm this setting by Write Params button
- Reboot your Cube
- Reconnect MissionPlanner to the Cube
- You will see the “CAMERA” device back available
STEP 7
- To make new configuration persistent, you have to find parameter:
- FW_SAVE_CFG -> 1
- Confirm ENTER
- Click to Write Params
- No need for reboot
- TAG-E is now properly connected and configured via MavLink
- Follow next steps for additional configuration
Tricky point
Configuration is not saved automatically in TAG-E unit, you have to save settings manually to make it persistent!
Other settings (Ardupilot) #
STEP 1
- Open your Cube’s parameters
- Find parameter CAM1_TYPE
- Configure this parameter to 5 to enable all Mavlink camera control features
- Confirm by “Write Params”
- Reboot the Cube to apply changes
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
