UAS Tool 12.

9
FPV Configuration

Guide v1.0.0 contact [email protected] for corrections and questions

 FPV Situational Awareness
Description (5W’s) Build Requirements
• Who: sUAS Operators • TAK Device with 5.0.0 or 4.10.0
• What: FPV TAK UAS Tool v12.9 • FPV drone w/TBS Crossfire RX, compatible VTX (eg: Analog,
Caddx Walksnail, or HDZero)and GPS* with I2C compass**
• When: 15DEC23
• RC with a compatible CRSF TX (eg: TBS Tango 2, Radiomaster
• Where: tak.gov Zorro, etc)
• Why: IOT provide friendly sUAS operators with
situational awareness of Organically Built Drones (OBD)
during mixed sUAS operations. *requirements for Betaflight aircraft
**requirements for Arducopter aircraft

Employment Plan Amplifying Information

• The TAK device requires both telemetry in (via Wifi) and
video (via UVC or network).
• IOT share the aircraft position with other TAK users, the
pilot must first connect their TX to an existing wifi
connection (eg: Trellisware Wifi AP).
• The simplified Betaflight integration emulates, to the
GCS, but does not send bidirectional MAVLink to the
aircraft. Full control via TAK UAS Tool requires an
Arducopter.
 The Big 3 Firmwares
Betaflight for Responsive Flight:
•Recreational FPV pilots often use Betaflight firmware and it is commonly flashed to Ready To
Fly (RTF) and (Bind-N-Fly) BNF configurations.
•Limited integration of sensors and no autopilot features.
•Supports one-way MAVLink telemetry to the RC.

Transition to Inav for Basic Autonomy:

•Inav, based on Cleanflight, is a user-friendly autopilot.
•Combines Betaflight's UI with advanced sensor integration.
•Enables pre-planned routes and sophisticated behavior.
•Supports one-way MAVLink telemetry to the RC.

Strive for Ardupilot to Unlock Potential:

•Ardupilot now supports more hardware targets including FPV flight controllers
•Suitable for RC and autonomous flying.
•Interactive but requires detailed setup.
•Not available as widely in RTF or BNF configurations.
 Work Flow
Aircraft RC Input
Hardware Host Network
Firmware Telemetry

CoT Multicast via UAS Tool

Crossfire RC Input Android EUD
Betaflight
1-Way MAVLink Emulation TAK
iNav UAS Tool 12.9 Video via Multicast or RTSP
Track 1
Server
FPV with GPS and I2C
Compass
ELRS CoT Multicast via UAS Tool
TX with Wifi AP or Serial Android EUD
MAVLink Telem
Telemetry Output TAK
2-Way MAV Full Video via Multicast or RTSP
UAS Tool 12.9
Track 2 Server
Ardupilot

TBS Crossfire CoT Multicast via UAS Tool

Android EUD
MAVLink Telem
TAK
2-Way MAV Full Video via Multicast or RTSP
UAS Tool 12.9
Track 2 Server
 What is UAS Tool Going to Do?
UAS Integration:
•Enables real-time tracking and management of unmanned aircraft by broadcasting MAVLink
location data as CoT.
•Muxes video with telemetry to provide Sensor Point of Interest (SPI) and other metadata.
•Reflects video as multicast for a local network or RTSP/SRT.
•Broadcasts UAS data at 1 update/second for network hosts.
•Enhances teamwork by enabling observers to assist with navigation.

Situational Awareness:
•Provides a comprehensive top-down view of UAS operations.
•Enables remote users to monitor FPV drone locations and orientation.
•Integrates UAS sensor data for a complete situational awareness picture.

Flight Path Monitoring:

•Tracks UAS flight paths and support waypoint mission planning.
•Ensures safety of sensitive payloads by showing lat/lon/alt of the aircraft to the network.
•Enhances mission planning, especially for altitude limits and protecting other air players.

Multi-Platform Support:
•Compatible with various UAS platforms for operational flexibility.
•Enables interoperability among different UAS types including Augmented Reality viewing of
SPI within a drone camera field of view.
 Preparing the GCS
Requirements for Best Functionality:
•Use ATAK UAS Tool 12.9 with ATAK-Civ core 4.10.0 or 5.0.0.

Distribution A Approved:
•ATAK-Civ and UAS Tool have unrestricted public release approval.

Control Your Versions:

•Download ATAK-Civ and UAS Tool GCS plugins from tak.gov for version control.
•Avoid automatic updates for TAK 5.0.0 from the Play Store to maintain UAS Tool compatibility.

Access and Highlights:

•Anyone can create a tak.gov account.
•The TAK Product Center promotes Commercial and Outdoor Recreation applications of the
toolset.

Getting UAS Tool:

•Visit the TAK website's products tab and go to the plugins page.
•Search for "UAS Tool" and select the version (4.10.0 or 5.0.0).
•Ensure you choose "TAK for Android."
•The correct version will include "12.9" in the file title.
 Preparing the TX
Historical Support:
•UAS Tool has historically supported Ardupilot and Pixhawk autopilots for drones.
•Existing FPV drones using Arducopter and a compatible telemetry radio can connect to legacy
UAS Tool without modification.

Integrating FPV Telemetry:

•FPV pilots inject RC telemetry into TAK through their RC Controller with CRSF TX. If the TX
isn’t compatible, it won’t reach the EUD.
•Preferred methods include Team Blacksheep’s (TBS) Crossfire and the open-source
ExpressLRS protocols.

Crossfire Protocol:
•With full MAVLink, a Crossfire TX is capable of bi-directional MAVLink messages as a
telemetry rado.
•With emulated MAVLink, Crossfire tx offer one-way receive-only MAVLink packets but
maintain interoperability with alternative FW like Betaflight.
•The Crossfire TX’s Wifi AP allows connection between the TX and the EUD.

ExpressLRS Protocol:
•Requires flashing TX and RX with mavlink-rc branch of ELRS.
•Connects GCS to TX via USB or ELRS Backpack for telemetry.
 Crossfire Settings
Telemetry Options:
•Team Blacksheep (TBS) TX offers BLE and WiFi AP telemetry output.
•This guide focuses on using the WiFi AP for the fastest and most reliable connection.

Updating TX Firmware:
•Ensure your TX firmware is up to date.
•Author used Tango WiFi v1.08 and updated it upon arrival.
•End user can update fw via Agent Web or Agent Desktop. Once updated, the TX is configured
via a LUA script within the FreedomTX, EdgeTX, or OpenTX firmware.
•The TBS WiFi AP by default will be named something like “TBS_XF_AP_xxxxxx” with a UI
accessible on the default IP of 192.168.4.1
•Specifically, the user is looking for the TBS Agent Lite LUA script within the Tools menu of
their RC. After an upgrade, the user will see a Tango WiFi option which has several useful
submenus.
•General: This is where the WiFi AP is enabled and the user can manually join an existing AP from the
RC interface (eg: tactical radio WiFi dongle)
•MAVLink: This is where the MAVLink server settings are controlled including the MAVLink format
(UDP or TCP) and the Port. Author recommends using UDP packets with the default 14550 port.
•WebUI: This is where the user can control the TX’s UI settings including password
•Pro: This is where the user can change the power settings of the WiFi AP.
•About: This menu has information on the WiFi AP FW and AP IP address if it has joined another
network.
 ELRS Settings
Hardware Compatibility Check:
• Verify if your TX supports a WiFi AP for telemetry using the ELRS hardware list.
• If not, use a USB cable between your TX and End User Device (EUD).
• Hardware List Reference

Downloading ELRS Configurator:

• Get the ELRS configurator for flashing TX firmware on your configuration computer.
• ELRS Configurator Download

Firmware:
• Launch the ELRS Configurator and navigate to the Git Branch tab.
• Choose the "mavlink-rc" branch from the drop-down menu.
• Select the appropriate target and flash both RX and TX with the same firmware.

For Backpack-Enabled Hardware:

• Flash the backpack with MAVESP8266 FW (firmware-esp01_1m.bin) to create a WiFi AP
named "Ardupilot."
• This configures the backpack to send MAVLink telemetry to your GCS (TAK UAS Tool) via
UDP or TCP.
• Firmware Download
 ELRS Settings
Enabling the Backpack:
•Access the ELRS Lua on your TX.
•Scroll down to the Backpack submenu and ensure it's turned on.
Flashing MAVESP8266:
•Join the AP that appears on your configuration computer and upload your firmware-
esp01_1m.bin firmware. Just like other ELRS hardware, the Backpack has a captive portal with
its UI, which resembles the ELRS RX/TX UI.
Accessing MAVLink WiFi Bridge:
•After reboot, the ELRS backpack now functions as an AP with SSID “ArduPilot" and password
"ardupilot.“ The AP appears whether an aircraft is connected to the RC or not.
•Join the AP and enter the GUI at 192.168.4.1.
Updating Baudrate:
•From the GUI, select "Setup" and navigate to Baudrate.
•Update the BAUD rate to 460800 and save.
•Note: TAK UAS Tool defaults to 115200 BAUD, but users can manually override.
•Testing shows negligible difference in parameter loading times between both BAUD rates.
•Be aware that parameter download time exceeds the UAS Tool's 40-second timeout in v12.9.
Joining Existing AP:
•To connect to an existing AP (e.g., home WiFi or Tactical Radio WiFi dongle), change the
Bridge from an Access Point to a Station.
•Fill in Station information within the Setup tab.
•On boot, the ELRS Backpack will join the specified AP.
 UVC Video
What is UVC Video?
• UVC (USB Video Class) is a standard for video capture and streaming via USB.
• Allows devices like webcams and camcorders to communicate with computers without
specific drivers.

UVC Video in TAK UAS Tool (v12.9):

• TAK UAS Tool now supports UVC Video as a video input.
• Enables near real-time video integration into the TAK environment as well as video sharing
via Observer Broadcast.
• Benefits include video for teammates, Object Recognition overlay, Augmented Reality
overlay, and enhanced situational awareness.
• UAS Tool sends out your Sensor Point of Interest (SPI) across the network if four corners of
telemetry are available (ie: user has set Camera Pitch Override to a positive value under
Camera Preferences and the aircraft is flying in a generally nose-down angle).

This guide will cover:

• Analog 5.8G.
• Caddx Walksnail.
• HDZero.
• DJI Goggles V2.
 UVC Video Analog
Using Standalone VRX (e.g., Skydroid):
•Analog VTX offers signal accessibility with the right VRX.
•Fastest method: Utilize a standalone VRX (e.g., Skydroid) supporting UVC video output.

Simple USB Connection:

•Connect VRX to Android End User Device (EUD) using a USB cable.
•Android recognizes Skydroid connection, prompting app selection for USB video. Select ATAK Make sure to give permission to the correct app
to avoid launching the wrong GCS.

The Only APK You Need:

•UAS Tool is the sole APK required to view Skydroid video in the TAK environment; the
standalone Skydroid app is not necessary.
•Unlike the standalone app, no changes to EUD connections needed for video viewing.

Alternative Method with FPV Gear:

•Consider using AV out from FPV goggles or a standalone VRX with an analog to HDMI adapter.
•Note: Adapters may introduce latency and require separate power.

Note Double OSD from both VTX and UAS Tool

 UVC Video Walksnail / HDZero
HDMI Out:
•Caddx Walksnail Avatar and Fat Shark Dominator HD goggles support HDMI out via a USB C
port on the goggles.
•Caddx Avatar HD Goggles X, Caddx Walksnail Avatar VRX, HDZero Goggles, and HDZero VRX
Modules all support HDMI out.
Make sure to give permission to the correct app
Cabling the EUD:
•In order to view the HDMI out video on the EUD, users need to connect the HDMI cable from
their goggles or VRX to an HDMI USB Capture device. These capture cards work using the
same UVC video input within the UAS Tool interface.

Digital Video Considerations:

•HDZero video allows users to use the same one to many approach as analog video. The VRX
is just that, a receiver and will not transmit to the VTX.
•Caddx Walksnail, like the DJI FPV system, has a two-way data stream with the video
transmitter. This means that the pilot and his VRX/goggles are the source of video within the
system. Depending on your task organization, a team member can use the HDMI out of his
goggles to cable an EUD and stand near him, or the pilot can run his own EUD and simply
broadcast the video to the network.
•While it’s still too early to reliably use, the Caddx Avatar HD Goggles X have a wifi access
point and an RTSP server for video. This potentially allows for an alternate to UVC video in the
Note Double OSD from both VTX and UAS Tool
near future as this capability is further developed by Caddx.
 UVC Video DJI Goggles V2
Fake It Until You Make It:
•Video out has been a contention issue for the DJI FPV system since its inception. At this time,
a few open source projects exist which spoof bits from the DJI SDK/APK that allow DJI Goggles
V2 to stream video out via USB.
•When one of these systems is in use, the DVR function of the goggles will not work and the
video will not include any OSD elements from the FC. Make sure to give permission to the correct app

Hardware Requirements:
•The best solution the author has used for injecting DJI FPV video into the TAK environment is
using Digiview’s raspberry pi images, found here.
•Supported Pi’s include 4, 3, Zero, and 2B.
•These images are headless and the service launches on boot. Once running, video comes out
via the Pi’s HDMI out port and can then be added to the EUD via UVC in or a network encoder.

Note the absence of VTX OSD from DJI Goggle V2

video out. Also, mix of telemetry from the
Betaflight aircraft (eg: disarmed but in the air)
 Connecting the Aircraft
Platform Configuration:
•From the UAS Tool UI, select the plus sign to access the platform menu.
•Ensure MAVLink is set as your default platform. Verify that other settings match your
configuration, especially Network Protocol and Local Port (consistent with TX setup).

Recognizing the Platform:

•Once a platform is recognized, Android notifications will appear about new Cursor on Target
(CoT) players including an aircraft, a home location, and possible a SPI.
•A named UAS will appear in the Network UAS tab as UAS Tool begins downloading
parameters.

Understanding Notifications:
•Messages like "No GPS" may appear over the aircraft, and the battery meter may remain at
0% for an extended time. These errors are common with Betaflight aircraft.
•For Betaflight, expect the parameter download to time out and continue setup by hitting the
play button as soon as its available.
•Expect incomplete params/telemetry during flight, as Betaflight reports limited fields.
•ELRS users may experience timeouts during parameter downloads, which may take up to 2
minutes on a laptop with a traditional Mission Planner GCS. This doesn't impact flying, and
future builds may extend the timeout for full downloads.
 UAS Tool Overlays
Full Overlay Compatibility:
•Every overlay available for traditional UAS in UAS Tool is also compatible with your FPV drone
including Object Detection and Augmented Reality.

Object Detection:
•Object Detection utilizes streaming video from the drone and processes video on your End
User Device (EUD) using preloaded tflite models.
•Users can import their own models in UAS Tool if needed.
•Customizable features of this overlay include the detection interval, mapshops, and
automatic broadcast of detection objects to your network.
•NOTE: Some Object Detection (OD) models can makr On-Screen-Display (OSD) items as
detections creating false positives. Also, some low resolution analog video can make it difficult
for the OD models to mark objects.

Augmented Reality:
•Augmented Reality allows live visualization of CoT players within the camera field of view
including other TAK users and Sensor Point of Interest (SPI) from UAS or ISR on the network.
•Users need to manually set the camera pitch of their FPV from the Camera Preferences
submenu of UAS Tool.
 UAS Tool Route Planning
Familiar Interface:
•UAS Tool Route Planning remains familiar and user-friendly.
•If you have experience with drones like Mavic 2 Pro or R80D, you'll find the interface similar.

Key Considerations:
•When using Route Planning with FPV drones, consider your firmware and TX.
•The best-supported FPV drone configuration is a full arducopter with TBS Crossfire as a
telemetry radio. This means setting the serial parameter as telemetry and not rcin. Make
sure to also change other relevant params including setting the radio rssi to telem and not rc.
•With the above configuration, a pilot can take advantage of bidirectional MAVLink
communication, including waypoints, fly-to points, orbits, etc.
 Sample Configuration: Crossfire x Analog

• EUD: Samsung S23

• Startech USB-C Hub
• Wifi to TBS Wifi AP for Telemetry
• USB A to Skydroid VRX for UVC Video
• TX: TBS Crossfire Tango 2
• RX: TBS Crossfire Diversity Nano
• VTX: TBS Unify Pro32
• VRX: Skydroid
 Sample Configuration: ELRS x Walksnail

• EUD: Samsung S9+

• Wifi to MAVLink WiFi Bridge on ELRS
Backpack
• USB C to HDMI Capture from UCB C to
HDMI Out on Fat Shark Dominator HD
Goggles (Walksnail) for UVC Video
• TX: Radiomaster Zorro with mavlink-rc
branch fw
• RX: Happymodel EP2 with mavlink-rc
branch fw
• VTX: Walksnail Avatar HD
• VRX: Fat Shark Dominator HD
 Sample Configuration: Crossfire x Walksnail

• EUD: Samsung 23
• Wifi to TBS Wifi AP for Telemetry
• USB A to HDMI Capture from HDMI Out
on Walksnail Avatar VRX for UVC Video
• TX: TBS Crossfire Tango 2
• RX: TBS Crossfire Nano Pro
• VTX: Walksnail Avatar HD
• VRX: Walksnail Avatar VRX
 Sample Configuration: Crossfire x DJI

• EUD: Samsung 23
• Wifi to TBS Wifi AP for Telemetry
• USB C to HDMI Capture from HDMI Out
on Raspberry Pi 3 (DigiView) for UVC
Video
• TX: TBS Crossfire Tango 2
• RX: TBS Crossfire Nano
• VTX: DJI Air Unit
• VRX: DJI Goggles V2