Connecting with GCS¶
This article explains the different mechanisms for connecting the Antenna Tracker to a GCS (or even multiple GCSs at the same time).
There are a number ways that the Antenna Tracker’s connection with the vehicle can be made accessible to a GCS:
- Connect a USB cable from the antenna tracker control board to the GCS machine
- Connect a 2nd pair of radios between the antenna tracker control board and the GCS machine
- Connect one additional radio and use the experimental multi-point SiK radio software
- Connect a companion computer and set-up a WiFi access point
Connect with a USB cable¶
If the antenna controller is a Pixhawk you can simply connect your ground station computer to the Pixhawk using a long micro USB cable.
On an APM2 the micro USB port and Telemetry port cannot be used at the same time which means that to connect with a USB cable, the radio must be moved to use UART2 (aka Serial2). The UART2’s TX, RX 5V and GND pins are on the right side of the APM2 as shown on this wiki page.
Connect a 2nd pair of radios¶
A second pair of radios (or even a bluetooth data link) can be used to connect the Antenna Tracker controller to the PC running the ground station.
If using a SIK radio the Net IDs of the radios connecting the Antenna Tracker to the PC should be different than the Net IDs for the radio connecting the vehicle to the Antenna Tracker. Net IDs can be changed by configuring them in Mission Planner.