configuring a Bluetooth module on the FlyingF3

[Menno]

There is some scattered information about configuring a Bluetooth module on the FlyingF3. I would be nice to have this information in a single topic so it is easy for other people to find.

1. Not everybody has a dedicated USB to serial converter. If I am correct we can set our flight controllers to a ComBridge so we can adjust the Baudrate and the name of our Bluetooth module. Maybe somebody who has used this successfully can write a short how to.

2. Which modules are successfully being used and at which baudrate.

3. Did you have any problems in the progress and what was the solution.

Right now I am still stuck at point 1 because I don't have a USB to serial adapter ;-)

Eventually it would be nice to add a short guide to the wiki.

[TazBox]

Hi Menno,

Nice systematic approach :)

I will share my experience until now: i tried to setup a Roving Networks Class 2 (max 10m) module: http://www.rovingnetworks.com/products/RN_42_SM. The good thing about it is that you can configure the module directly from the PC through Bluetooth without the need for a USB 2 serial cable. The disadvantage is that the module is not the cheapest on the market. This module worked well on a MultiWii board.

I did not successfully set the module, I tried it on UART 1 and UART2. Something is wrong either with my settings/firmware on FlyingF3 or with the wires that connect the module to the board though I used a null modem cable ( BT Tx connected to board Rx and BT Rx connected to board TX).

I'm also interested in using a Bluetooth module for short range telemetry. If someone finds a solution please post it here.

On the other hand Bluetooth uses 2.4 Ghz Adaptive Frequency Hopping on 79 channels almost the same frequencies as many RC transmitters. It's a slight chance to interfere with the 2.4 Ghz RC transmitters.

[Kenn Sebesta]

I have several of the ultracheap modules from goodluckbuy/dealextreme. I have had great luck with them in the past, and the cable they supply with the module is perfect for getting up and running quickly with the FlyingF3 (and Quanton, too!).

However, I have had no luck in actually getting the FlyingF3 to respond to any serial port interface so far. We found a bug today for which lilvinz has already pushed a patch: https://github.com/TauLabs/TauLabs/pull/304. So that might have something to do with the problems we've been seeing. I'll test the new code and report back tomorrow.

[TazBox]

Hi all,

I tested the revision containing the fix : jenkins-taulabs-next-win32-391:bd0a26a4 20130210 17:32

I still have problems with the UART2. I can't make it accept a Bluetooth module. I use 57600 8N1 settings. I attached the diagram obtained with the logic analyzer. Channel 0 (Black) is connected to USART2_RXI (PD6) and Channel 1 (Brown) is connected to USART2_TXO (PD5). On the PD6 I observe UART data coming from BT module ans seems to be ok. On PD5 i see some short pulses with the 0.4375us width. The line polarity also seems wrong for serial data.

[Lilvinz]

That revision does NOT contain the fix. We just merged the fix into next so jenkins should be building that right now. May take up to 30 minutes until it appears on jenkins.taulabs.org.

[TazBox]

Thanks for the update Lilvinz,

I'll test it again tomorrow.

[TazBox]

Hi Lilvinz,

I can use the telemetry on the latest build. Thank you very much for the fix. It's really nice to have it working with a Bluetooth module.

[Menno]

Nice. Glad that you have it working.

I also get some data on the UART although I don't have it working yet.

Here is a screenshot from my phone while connecting it at 9600 Baudrate. I get a warning about it not being able to load the UAVO set:

After that the TxDataRate stays at 0:

If I increase the Baudrate to 57600 than there is Tx and Rx data:

Any tips?

[peabody124]

Ah, no that is good!  When it says "Failed to load UAVO set" that means it connected just fine but doesn't recognize that firmware version.  Let me upload an apk for you.  10 minutes.

[peabody124]

Try this https://dl.dropbox.com/u/6645063/androidgcs-release.apk

[peabody124]

I need to look into whether I can store the UAVO jar's on a server and push have the device pull them remotely when unrecognized.  It's annoying to have to update the app in the store just for this.  Anyway, I'll upload a new .apk to the store for this but it takes a few hours to a day to start rolling out.

[Menno]

Yes. It's working!

[Menno]

Any chance of using the boards combridge function to change the baudrate of the Bloothtooth adapter or would I be better of buying a USB serial adapter? 

[peabody124]

That's absolutely doable, although you'll need to know the commands to change your BT dongle.  Steps to achieve:

1) Enable com bridge in Modules->State->ComUsbBridge

2) Set the ComUsbBridgeSpeed to your current baudrate (9600)

3) Click save

4) In the HwConfiguration page set the UART you are using to ComBridge instead of Telemetry

5) Set the USB_VCPPort to ComBridge

6) Click save

7) Power cycle the board

8) Connect to the new serial port via your favorite terminal program

9) Find bugs and get frustrated :D

If that works maybe you can take a few screenshots and make some notes on the wiki?

[peabody124]

P.S. I _really_ need to update the android app to display a prompt but please be warned if you go to the controller page it reconfigures your board for phone control and you'll need to power cycle to get back to normal.  Also when I tried flying via 9600 baud ... it wasn't great.

[AlPackin]

I have always used Jose's BT config app along with CommBridge to configure my BT modules with a CC board.  Does that not work with a FlyingF3 ?

[peabody124]

That was the special firmware for CC(3D) right?  That wouldn't load onto the F3 unfortunately.

[Menno]

Thank you for your step by step guide. I will try how this works and document it in the wiki. If you don't mind I will try to skip step 9.

What baudrate is advised. The HC-06 Bluetooth adapter supports baudrates up to 115200 but will this result in losing packages when you get at the edge of the range? I've read somewhere on DIY drones that 57600 is more than enough for the current purposes?   

[peabody124]

Yeah I have mine at 57600 normally and have no issues.  I haven't really played with pushing the range though.  Let me know how the app handles when you go in and out of range too if you encounter that.

[AlPackin]

no I don't think so..  It wasn't FW loaded on a CC board it was a Windows app as far as I recall (there was FW that did that however).  We just used CC as a commbridge or you could use a USB to Serial adapter if you had one.

here ... http://wiki.openpilot.org/display/Doc/Serial+Bluetooth+Telemetry

[AlPackin]

ahhh .... so I guess maybe not.  It might not be compatible with the latest GCS, 

"The application is not completely stand alone and it needs to be copied into the GCS station executable folder. This is the bindirectory in your OpenPilot installation folder. (Hint: the openpilotgcs.exe executable file is also located in the bin directory.)"

[Menno]

I found myself stuck at step 9 :-)

Both Putty and Arduino Serial Programmer lock up when I open a session at 9600 baudrate.

While I was fooling around with the Hardware setting in the GCS I tried setting theUSB_HIDPort to disabled. Bad mistake. After rebooting it locked the board completely out. I could not retrieve it with boot, safe boot or rescue (and flashing firmware). I had to reflash the bootloader to get the board going again.

[msev]

Guys, which cheap bluetooth module would you suggest me to buy from China (ebay)? :)...So that I would have to do as little as I can to configure it, or else I'll have to bother you guys at IRC :).

[CheBuzz]

This one is the one that a lot of people have bought and successfully used.

[Menno]

I am back from holidays again. I see a lot of new developments are going on.

 

I still didn’t manage in setting up the serial port of the F3 board in such a manner that it can be used to program Bluetooth adapters and such (using Windows 7). Instead I purchased a Arduino USB to Serial adapter. With the help of that adapter it was a breeze to change the settings on the HC-06 Bluetooth device. I used the serial monitor that’s build into the Arduino software, but you could also use Putty or another program for this. Here is what I did:

 

 

Default settings of the HC-06:

Slave

9600, N, 8, 1

Name linvor

Pincode 1234

 

First to test if the serial connection is working type AT in the command line. The HC-06 should reply with OK.

 

After that you can change the baudrate

 

Sent:  AT+BAUD#

Receive: OKbaud

 

1: 1200

2: 2400

3: 4800

4: 9600

5: 19200

6: 38400

7: 57600

8: 115200

 

I used

Sent:  AT+BAUD7

Receive:  OK57600

 

Changing the name of the Bluetooth device:

 

Sent:  AT+NAMEyourname

Receive:  OKyourname

 

Example

Sent:  AT+NAMEflyingf3

Receive:  OKflyingf3

 

Changing the pincode:

 

Sent:  AT+PINxxxx

Receive: OKsetpin

 

Example

Sent:  AT+PIN7410

Receive: OKsetpin

[none]

In order to debug the serial-over-bluetooth Telemetry connection I am trying to follow these steps with "jenkins-taulabs-next-win+/ 2013-03-29 22:50 / 0c88cb46" on STM32 Discovery F3 (flyingF3) , but there is no VCP showing up in Windows' devices list (FlyingF3 is shown as game controller).
But I may be making a mistake in step 1) already (Windows GCS): System Tab > Settings > ModuleSettings > AdminState > ComUsbBridge set to "Enabled".
Configuration Tab > Hardware > Uart4 = ComBridge, USB_VCPPort = ComBridge
All of the above settings I saved and power-cycled the board.

What am I doing wrong?

[none]

I just noticed hat the "Settings" property-tree-browser is also shown on the right hand side of the "Configuration" tab.
I'm attaching a screenshot with the properties marked with a red rectangle (a reset of the board is required).
Also, the procedure is described on http://wiki.openpilot.org/display/Doc/Hardware+Settings although the description slightly varies due to changes in the UI.

[Francis Velasco]

im confused

what should the baud rate be?
what should the name be?
what should the passkey be?

i got an HC-05 and do i have to set it to slave?

any guide on how to set it up? i got the serial arduino and im able to program it. i dont know what are the specifics and how to pair it with the android? should i set the hc-05 to slave?

thanks

[Jörg Rohde]

   i got an HC-05 and do i have to set it to slave?

yes

what should the baud rate be?

Normaly the same that You have choosen in the GCS for that port -  57600Baud
 

what should the name be?

A name unique for you - "mycopter" or "FrancisCopter"
 

what should the passkey be?

It´s for the security otherwise every person can peer with your Bt device

    i dont know what are the specifics and how to pair it with the android?

it´s similar like pairing an headset with your mobile - settings - bt - searching for "mycopter" - pairing

[Francis Velasco]

ive paired it with my phone, how do i set it up on the GCS now? haha ive changed the baud rate and everything

[Jörg Rohde]

What is the Baudrate of the Bt Modul?
You have programmed it into Slavemode you must set the Baudrate or you have to know the Baudrate. On exaple its 38400Baud you have to set the Port of the FF3 where are theBtModule to the same Baudrate.

[Francis Velasco]

is it the GPS module for the telemetry? its the only one i can change the baudrate, i changed it to 57600, it connects but it doesnt send or update data

[Jörg Rohde]

You have to set the Baudrate of the BtModul within the BtModule:
Connect the BtModule with an USB-Ser Adapter to your PC like this one or use the ComBridge Function your FC.
Start an Terminal Emulation like HTerm under Windows other OS I dont have a name.
Connect to the Virtual ComPort of the Adapter or the FC with the default BaudRate of the BtModul 9600Baud
Setup the BtModul
the HC-04 Module accepts following commands:
at give back ok - connection for programming the BtModule works
at+nameMyBtModule sets the name you see for pairing to MyBtModule
at+pin4321 sets the pin for pairing to 4321
at+baud7 sets the baudrate to 57600

for HC-05:
at+role=0 for slave mode
at+name=MyBtModule
at+pswd=4321
at+uart=57600,1,2 for 57600 8N1

the default for the HC-05 is slave 38400Baud Pin1234 the HC-04 9600Baud

to set the ff3 for an HC-05: hardware a port you choose to telemetry and module/misc the telemetry to 38400 it should work.
Or set up your BtModule discriped above

I have .pdf dokuments over the HC.xx modules if you like

[Francis Velasco]

Thanks for all your help!

il try to get to work on this asap, but right now im having trouble getting into AT command, Im really sad because i was able to change the baud to 57600,0,0 i think, but now i cannot get into AT mode at all to change the role to slave. it was working perfectly fine on Hterminal before then. Now when i plug it in to the computer its just stuck at AT commands: and i cant even get an error 0 if i type something wrong :((

[Jörg Rohde]

If you set Pin34 to high(3,3V) you get in AT command mode
with AT+ORGL you get back to the factory settings so you can start programmin again.

[Francis Velasco]

i finally got it to reset, i had to UNPAIR it with my cellphone and computer.

Jorg can i connect the bluetooth module to the UART 1 on the FlyingF3? how do i set it up on the GCS?
i set UART1 to telemetry but i dont have a module/misc for telemetry
ive attached the photo of the modules available on my GCS

[Francis Velasco]

id just like to add thank you for helping me, i was wondering is setting the telemetry for the bluetooth also the same as giving it the ability to control it via bluetooth

[Jörg Rohde]

Hi Francis,
you have to set on the Hardware Page from the GCS the port1 to telemetry.
Than you change the speed of the port in the settings/ModuleSettings/TelemetrySpeed on the right side of the GCS.
Don´t forget to save, look to the buttons above and to powercycle the board after changing.
For the first test you can use the default baudrate of your module.
And when I´m right you have to disconnct the USB. Only one telemetry is working - USB or SerPort/Bt.
You can also test the port if you connect the SerPort directly with an USB/Ser to your PC. Think of crossing RX/TX.
When this is working you can try changing the baudrate to the prefered 57600 Baud.

[Jörg Rohde]

For Telemetry it´s not the question of the way. You can use direct per USB or Ser/USB or you put an TX/RX system like Bt or UHF 433MHz/968MHz between.
You can also connect the GCS of your PC/NB per Bt to the board :)

[Francis Velasco]

Ive changed the bluetooth to 57600, paired it with my phone
but when i open TauLabs on my android phones its connected but i dont get any information from the quadcopter, i see TX is blinking but the RX is blank :(

GCS telemetrystats

TXdatarate 120
RXdatarate 0
TXfailure 370
RX failure 0
TX retries 700
Status Handshake req

just looking at the PFD its not updating :(

i have set UART1 to telemetry then i changed the telemetry speed on the right side to 57600.

[Jörg Rohde]

Have you tried it direktly with the USB/Ser adapter to your PC?
You allways crossed the RX/TX Pins?
You have to connect the RX from one to TX to the other device and vice versa.

[Jörg Rohde]

A second thing I forgot:
If you connect per USB/Ser for the GCS its an seriell port. The GCS doen´t find an FC at an seriell port.
You have to change in the GCS manually. In the down right corner of the GCS too that ser port your USB/Ser adapter has gotten, COM53 perhaps.
Don´t forget to powercycle after using the USB connection to the FC.

[Francis Velasco]

i used an ardunio board+hyperterminal to get into the AT command of the bluetooth. yes i crossed the RX/TX pins on the cables.

il try the second thing you mentioned :)

[Francis Velasco]

im sure i have programmed the Bluetooth module already to 57600 baud like you said, i was even able to change the name and the password :)

i have set it to slave also, and paired it with my phone.
is there any other setting i should be checking on the GCS?
Modulesettings>telemetrySpeed is set to 57600 bps..

[Francis Velasco]

either im the only guy having bluetooth troubles or everyone knows what to do and im that noob who doesnt get it haha

[Francis Velasco]

ive set the baud rate on the module to 57600 and on the GCS 57600.
Ive set UART1 to telemetry and wired the module to the FC (TX to RX and RX to TX) But i only get TX when i check the data on the phone, the RX is completely 0 :(

I also unplugged the FC from the USB and reset it, and powered it with the battery, still getting RX 0

am i missing something?

i used arduino+hyperterminal to reach the AT commands and change the bluetooth settings

[peabody124]

Pair the bluetooth module to your computer and open it in a serial console. See if you see any data there. 

[Francis Velasco]

ive paired the bluetooth on my laptop and i seem to be getting information, some kind of garbage or code i cannot understand. its coming in constantly. :)

[peabody124]

And if you open the port in GCS does it connect to it? (not the android gcs)

[Francis Velasco]

no it doesnt :( bluetooth shows up on my laptop as com7 and com8, ive tried both on the bottom right of the GCS and doesnt connect :(

[Francis Velasco]

yeah bluetooth is on port COM7 and the TX is just showing 1 bar, im not getting anything from the RX :( based on the connection to the GCS

[peabody124]

Hmm... that likely means one of two things.

1. only the RX line for your bluetooth module is connected. however then you should still see some objects updating in the UAVO browser

2. the baudrate isn't correct

If you record a log of the stream from the com port then you can post it or analyze it yourself. If you look at a hexdump of it you should frequently see 0x3c which is our sync value in the uavtalk protocol.

[Jörg Rohde]

Francis please make a little test:
connect RX and TX of the BtModul -
connect your Terminalprogramm to COM7 and type -
do you see what you are typing?
When you open the RX TX connection - does it stop when you typing?
This test the BtModule in loop.

[Francis Velasco]

Thanks guys, im sure the baudrate is correct, ive set it to 57600 on both the GCS the way jorg instructed me and on the bluetooth module, and the RX line for the bluetooth is connected, ive double checked the connection on my USART1 breakout board, and the connection to the bluetooth module and it is correct.
i'll try connecting the RX to TX of the bluetooth module and see if i can type, thanks for the test :)

can the Android GCS be used to tune the quadcopter PID on the go? like i dont need to connect it to the USB to tune it.

[peabody124]

Yes you can tune the PID settings via the android app. It is one of the things I use it for.

[Francis Velasco]

im using this pinout for my USART 1,

USART1_RXI (PA9) Connected to the Bluetooth TX
USART1_TXO (PC5) Connected to the Bluetooth RX

dont mind the resistors and the yellow wire, it just leads to the key so i can access the AT commands, as soon as this works with the Flying F3 il remove those. 

i still have to test the BtModule loop, hopefully its not the bluetooth module itself thats broken 

i was able to access the bluetooth and change the settings via AT command, so that should mean the RX/TX works. =/

[Francis Velasco]

I just did the test jorg and it works perfectly! :D

i have attached a screenshot of my test. so loop back works.

While im happy the bluetooth is functioning properly, i dont know why its not working between the GCS and the FlyingF3

ive also tried using the APK file that comes with the release from the

20130811-rc1 

because this release has the controller for the bluetooth, the one at the google play store doesnt have that option

[Francis Velasco]

Are my settings correct? my telemetry speed is the only thing ive changed, to 57600bps. do i need to enable any of the admin state?

ive uploaded the settings on the right side of the screen

[peabody124]

I'm not really sure of any good suggestions to give you. I would even be bothering trying to get the connection to android though until 1) you have serial data coming in a terminal on your computer and 2) you can make a connection with the desktop GCS

If you can't get even #1 above to work, then you probably need to try a physical serial connection instead of bluetooth.  BTW I'm sure it was mentioned above but if you have USB plugged in that will prevent the serial (i.e. bluetooth) connection working.

[Francis Velasco]

The problem is i cannot connect the GCS with the bluetooth, am i missing something? am i suppose to install some drivers or something?
My laptop sees the bluetooth serial connection as COM7.
What release are you using where the bluetooth module is working with your android and GCS?

I always disconnect the USB and try to connect via bluetooth like it has been mentioned, it links up but only tx lights up and rx is off. ive checked my physical connection a few dozen times and both are correct, on the bluetooth and the flyingf3 sheild i made, using USART1 connection.

Ive done a loop back check on the bluetooth and its working fine as i posted earlier.

Thanks for being patient with me and helping me figure things out, i appreciate it

[peabody124]

I never saw you perform the test I described above. Can you open the serial port on your desktop and see if receive any data. If so record a segment and post it somewhere and we can see if it looks like valid UAVTalk packets.

[Jörg Rohde]

Francis can you make a other test please?
Connect the USART from the F3 with your USB-Ser Adapter - RX/TX TX/RX Ground/Ground - select the port of the USB Adapter in the GCS and take a look if you got an connction?

[Francis Velasco]

i will try this later today, sorry for the late reply, there was a recent project i had to do

[Francis Velasco]

connect the USART from the F3 to my USB serial adapter? thats a cool idea, il try that also

my USB-serial adapter is just a modified arduino i used to program the bluetooth which has worked pretty well. il try it this way also just to see if there is data coming in

[Jörg Rohde]

Here is a picture from my new F3 and my old, configured in summer 2013 at a Quanton, Bt Module.

Grey is ground, blue and violet TX/RX crossed and green 5V on the shield from dasdboot.
Francis, do you have an USB Ser too?

[Francis Velasco]

i have made my own bluetooth module using the HC-05, when i ordered it it didnt' come with a board and pins like yours. Ive made a little voltage regulator from 5V to 3.3V so it powers up the bluetooth fine.

i have been able to loop back and sync so the bluetooth module seems alright.

I dont have a USB to serial. I borrowed one from the lab before but it didnt work properly, i dont know why. But my arduinio converted USB to serial works fine. it was the only way i was able to program the board.

Photos are included of the breakout board i made and also its connection to the STM32F3 board

STM32 -----> Bluetooth
TX------------>RX
RX----------->TX
5V----------->5V
GND------->GND

i have yet to test the method you told me.

Did you install any kind of drivers or anything? when you connect the bluetooth to the GCS on the bottom right does it connect with COM7? mine connects with COM7 which is recognized as bluetooth by my laptop.

[Francis Velasco]

Ok ive set the bluetooth at

AT+UART=56700,0,0 and it works fine, connects to the GCS via bluetooth just fine.

but the Android doesnt work, keeps saying failed to load UAVOset and something to do the with JAR file.

[Francis Velasco]

id like the bluetooth to work with my android so i dont have to bring the Radio around. which apk had the controller? on the menu? the one i downloaded with the  20130811 doesnt have it

[Jörg Rohde]

Hello Francis,
you have got the connection between FF3 and NB? Thats fine.
For my android tablet I use the aktual version from the app-store and the master firmware from jenkins.taulabs.org/artifacs from january: http://jenkins.taulabs.org/artifacts/taulabs_master_20140126_214807_937594b49b_win32.exe
I have tested in flight today.

[Francis Velasco]

the app store apk doesnt have the controller =/
and im using the 20130811 firmware for the FF3 and the 20130714 apk. I had trouble with the latest build that it wouldnt see the RC input no matter what i did. i think i started a thread on that eariler

i read that the UAVO set error is because of firmware mismatch or something.

[Jörg Rohde]

That doesn´t work. Your app must be newer than the firmware.
You must look for older firmware, at or before  14.7.2013

[Francis Velasco]

Yes, i have finally figured it out! Thanks so much

the 20130811 RC1 is the 14.7.2013 firmware

i have uploaded the 14.7.2013 APK and its working!

i can even control the motors via bluetooth but i havent had a chance to fly it yet. it seems slow on my dual-core phone.  And the bluetooth seems dodgy, like the connection isnt 100% all the time, i have to figure that out. BUT i am very happy it syncs with the GCS and with the android.

I have figured out a few things if someone in the future stumbles onto this thread
1. Set the bluetooth to UART = 57600,0,0
2. Set the GCS module settings>telemetry to 57600
3. The RC input has to be on, meaning your radio has to be connected to the FF3 and all blocks on the GCS show green
4. Only then can you use the bluetooth to connect and possibly control the quadcopter.

my next issue, is the PID tuning, i may dare to use autotune but we will see how it goes. i will take a video of the bluetooth working on all fronts :) and maybe make a step by step bluetooth guide for future newbies :))

Thanks so much Jorg for your patience and help! Also to James for really being patient and building this awesome development for STM32F3. i hope to make my own contributions in the future!

[peabody124]

Great, and congrats.

When flying via the phone make sure you have a plenty of space (but not so much you don't drop the BT connection) and that you go slowly. There is more latency this way than with a transmitter which makes it challenging. It's cute, but not a way I like to fly.