RC Setup
As a remote control setup for backup piloting a drone we are using FrSky Taranis transmitters together with FrSky XSR receivers (slightly modified as described below). To bind the two, follow this Youtube tutorial.
To be used with our framework, the Taranis needs a few specific settings.
For this we assume that you created a model on the Taranis and binded your receiver according to the tutorial linked above.
On the Taranis, with your model selected, go to the menu and then to page 2 (MODEL SETUP) almost at the bottom of the page.
Under Internal RF make sure that the Mode is D16 and that the Channel Range is CH1-8 (we need 7 channels so it technically must be larger or equal to 7) as shown below:
Then navigate to page 5 (INPUTS). These inputs should be the default one but make sure they are as shown below:
Finally, navigate to page 6 (MIXER) and set channels 1 to 7 to be as follows:
The functionality of the different switches (SF, SC, SB) and how to use the Taranis is explained on the Basic Usage page.
We recommend using a FrSky XSR receiver if you want to have to possibility to take over with a remote control while using our control framework. But since the SBUS protocol is inverted, we first need to do a hack to get to the un-inverted SBUS signal. This can be achieved by soldering a cable with a 330 Ohm resistor to one leg of the inverter chip as shown in the image below:
Once your Taranis and receiver are ready you can follow the SBUS Wiring Guide to connect everything.