This isn’t field tested, but I’m declaring a win!
I have Yaapu telemetry working on my TX16S AND MAVLink to the Mission Planner on the laptop. I’ll share my setup info in case this helps someone else.
Matek F405-Std
Arducopter 4.1.0.dev
OpenTX2.3.11
Crossfire 4.10 beta on Micro TX V2 and RX Nano.
The laptop is connected directly to the Micro TX WiFi access point. I am not using a hotspot or any extra hardware. I’m hoping this will make it practical in the field. Yes, you need to restart the MAVLink UDP on each startup.
I’m using the 2 UART method described by @jimenezlee
Channel 1&2 on the RX are connected to TX/RX 4/Serial2 on the FC using CRSF. (I had started with this on TX/RX3, but the telemetry didn’t work so I moved to 4 and seems to work)
Channel 3&4 on the RX are connected to TX/RX 3/Serial1 on the FC using MAVLink.
I’ve tried both SERIAL1_PROTOCOL = 1 and now I’ve got it 2 (MAVLink 2).
I’ve only noticed one issue: The parameter loading on the GCS takes a long time. On Mavlink 1 it took about 25 minutes to load the parameters. I just tried with Mavlink2 and it was considerably less at about 8 minutes. Once the parameters are loaded things move along quick enough. There is some latency (it’s not an RFD900 link…) but it’s totally useable.
Any suggestions to improve the parameter loading time?