TBS CROSSFIRE/ TRACER - MAVLink by WiFi
Revision 2021-10-14
What you need
● TBS CROSSFIRE/ TRACER transmitters on FW 4.11 (beta) or later with WiFi module
● WiFi module on FW 2.04 or later - how to upgrade it
● FC with a MAVLink capable firmware (e.g. Ardu, PX4 or iNav)
● Ground control software like Mission Planner or QGroundControl
General CROSSFIRE/ TRACER Settings
Transmitter Settings:
- CROSSFIRE OP Mode: normal
- WiFi: active
Receiver settings:
- CROSSFIRE RF Profile: dynamic/ forced 150hz*
- Telemetry: active
*This is only necessary during the connection to your ground control software if you use a MAV
firmware on your FC. They request all parameters at the first connection which can cause timeout
issues in 50hz mod. After all, parameters are loaded, you can switch back to your regular settings or
leave the CROSSFIRE in dynamic mode.
1
Setup
Update your CROSSFIRE/ TRACER TX to FW 4.11
(or later) by Agent X. If you can’t see the
required FW version, click on the 3 dots in the
top right corner and check “include beta
releases”.
Make sure that the WiFi module is powered up
as well (Standard TX).
Also, update your WiFi module to FW 2.XX
Connect your CROSSFIRE/ TRACER to a hotspot
via the built-in WiFi module. You can provide
access point information from your nearest wifi
hotspot, or create a temporary one on your
phone. Connect your PC to the same network.
OR
connect your PC/ mobile phone straight to the
CROSSFIRE/ TRACER access point.
Connect your CROSSFIRE/ TRACER to the FC by
MAVLink and enable the port in the software.
Note: BetaFlight and iNav can use CRSF instead
for live telemetry.
Wiring example in the attachments
Note: CROSSFIRE/ TRACER 6.09 (or later)
requires 115200baud
2
Adjust the output-map of the CROSSFIRE/
TRACER receiver to MAVLink TX/RX according to
the output map table.
If you use a non-MAVLink firmware on your FC,
you need to use CRSF for RC data and LUA
support and a MAVLink connection as well
Set the connection type of your ground control
software to UDP(<2.03)/ TCP (2.03 and later),
Port 8888*
Depending on the software you use, you need
to enter the port number after starting the
connection (MissionPlanner) or in the
connection settings (QGroundControl)
If you use an FC with BetaFlight or iNav you
need to cancel the “getting parameters” dialog
as it will not get past this. The telemetry data
will be sent anyway
*the port can be changed in the settings of the WiFi module. Only change it if you know what you
are doing
3
Wiring examples
4
Receiver Output Map
Each receiver is capable of outputting MAVLink on several pins. Just change one TX pin to MAVLink
TX, the associated RX pin will be changed by the CROSSFIRE.
Receiver pin Output type CROSSFIRE Diversity RX (standard) Default value
3 PWM Ch1 to 12, RSSI, LQ, RSSI/LQ, SBUS, n.i.SBUS, Serial PWM Ch. 3
TX, MAVLink TX, CRSF TX, SmartAudio
4 PWM Ch1 bis 12, RSSI, LQ, RSSI/LQ, Serial RX, MAVLink RX, PWM Ch. 4
CRSF RX
7 PWM Ch1 bis 12, RSSI, LQ, RSSI/LQ, Serial RX, MAVLink RX, PWM Ch. 7
CRSF RX
8 PWM Ch1 to 12, RSSI, LQ, RSSI/LQ, SBUS, n.i.SBUS, Serial PWM Ch. 8
TX, MAVLink TX, CRSF TX, DSMX, SmartAudio
Receiver pin Output type CROSSFIRE Diversity RX (Nano) Default value
3 PWM Ch1 to 12, RSSI, LQ, RSSI/LQ, SBUS, n.i.SBUS, Serial PWM Ch. 3
TX, MAVLink TX, CRSF TX, DSMX, SmartAudio
4 PWM Ch1 bis 12, RSSI, LQ, RSSI/LQ, Serial RX, MAVLink PWM Ch. 4
RX, CRSF RX
7 PWM Ch1 bis 12, RSSI, LQ, RSSI/LQ, Serial RX, MAVLink PWM Ch. 7
RX, CRSF RX
8 PWM Ch1 to 12, RSSI, LQ, RSSI/LQ, SBUS, n.i.SBUS, Serial PWM Ch. 8
TX, MAVLink TX, CRSF TX, DSMX, SmartAudio
Receiver pin Output type CROSSFIRE Micro V2/ CROSSFIRE/ Default value
TRACER Nano RX
1 PWM Ch1 bis 12, PPM, RSSI, LQ, RSSI/LQ, SBUS, n.i. SBUS, CRSF TX
CRSF TX, MAVLink TX, SmartAudio, DSMX
2 PWM Ch1 bis 12, PPM, RSSI, LQ, RSSI/LQ, CRSF RX, CRSF RX
MAVLink RX
3 PWM Ch1 bis 12, PPM, RSSI, LQ, RSSI/LQ, CRSF RX, PWM Ch. 3
MAVLink RX
4 PWM Ch1 bis 12, PPM, RSSI, LQ, RSSI/LQ, SBUS, n.i. SBUS, Smart Audio
CRSF TX, MAVLink TX, SmartAudio, DSMX
