Yaapu telemtry for CSFR

ArduCopter Copter 4.0
1

Hi everyone,

I’ve been working on setting up telemetry for my RC helicopter using the Pixhawk 4 Mini (Pix4 6C Mini). I’m using a Super P 14CH receiver connected to the FMU DEBUG port (configured as SERIAL6_PROTOCOL = 23 and SERIAL6_BAUD = 115) through CRSF.

I’m running 2x 4S LiPos (total 8S, 9500mAh), and I’ve set BATT_CAPACITY to 9500. The batteries power the system through the PM02 module, which is connected to the POWER port of the Pix4. The batteries also power a HobbyWing Platinum V4 130A ESC. I’m using a 10A BEC with a separate 2S 3300mAh battery to power the Pixhawk’s servo rail (CHS rail).

I’ve calibrated the current sensor, and now I’m seeing correct current readings (e.g., 25A in flight, matching my clamp meter). The voltage readings also match my voltmeter exactly—showing 30.1V after landing.

However, I have one remaining issue: the battery percentage (Bat%) on my TX16S radio always shows 99%, even though Mission Planner shows the correct percentage (99% at takeoff and ~81% after landing).

I was told this issue might be related to the Yaapu widget version—that it’s not using CRSF correctly. In the Yaapu settings page, I see both Yaapu Debug CRSF and Yaapu Debug FRSKY. In the Yaapu config, CRSF support is enabled (“Yes”).

Also, I don’t see a Fuel sensor when I press “Discover new sensors” on the radio. I was told this likely means the Yaapu telemetry is using FrSky instead of CRSF.

I’ve been advised to delete the current Yaapu widget and install a fresh one that’s built specifically for CRSF.

Can anyone point me to the correct Yaapu telemetry widget version for CRSF?
Is there a direct link to download it?

Thanks in advance for your help!

2

That’s an ELRS receiver. What’s the transmitter?
It’s not well documented, but Yaapu needs:

  1. ELRS packet rate and telemetry ratio set (on the Tx) to allow enough telemetry packets through
  2. Several RC_OPTIONS flags set correctly/optimally for CRSF/ELRS

My Tx is currently set to a packet rate of 250Hz and telem ratio 1:4. RC_OPTIONS set to 15136 on Arducopter 4.6.0. I think that includes bits 8, 9, 11, 12 & 13. I don’t think those options are available in Arducopter 4.0.

3

Thank you for your respond,

I have my TX16s radio with BFPV 2G4micro 1W ELRS Paket rate 250Hz (-108dbm) Telem ratio 1:4
swith mode : wide,
RC_options 256 using passing through for CRSF telmetry.
and my Arducopter is :4.6.1V
Thank you
Ozy