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Ardupilot Setup

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Ardupilot Serial Setup

Ardupilot Firmware must be 4.1 or higher to run CRSF protocol. As with any serial-based receiver, you need to attach the TX/RX pads to a UART on your flight controller, then enable Serial RX in the corresponding UART in Ardupilot. In mission planner, you will need to go to the config tab -> parameter tree

SERIALx_PROTOCOL = 23 (RCIN)
RSSI_TYPE = 3 (ReceiverProtocol)
RC_OPTIONS = 9

Once you have set the parameter above, power-cycle the flight controller by disconnecting and reconnecting your battery and USB. Ardupilot should automatically run with ELRS, but if it fails, set the other parameter as below:

SERIALx_PROTOCOL = 23 (RCIN)
SERIALx_BAUDRATE = 115
RC_PROTOCOL = 9 (CRSF)
RSSI_TYPE = 3 (ReceiverProtocol)

Ardupilot Flightmodes

Ardupilot default flightmodes channel is channel 8, but ELRS 8 position channel is on channel 12. you will need to set your handset to use channel 12 as flightmodes and set Ardupilot parameter:

FLTMODE_CH=12

To get RSSI and LQ shown in OSD (in %) set:

RSSI_TYPE = 3 (ReceiverProtocol)

and go to your OSD tab, and place your RSSI and LQ element where you want them to be.

Happy Flying! ✈