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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)
our packet rate is different than CRSF packet rate, and ardupilot will keep on reporting the missmatch, but recently they have an option to suppress the report. Currently Ardupilot provide a way to suppress this notification with the parameter below. (this will not cause any effect to RC link or telemetry Link.)
RC_OPTIONS turn on Bit 9th which is  "Suppress CRSF mode/rate message for ELRS systems".

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 RC_PROTOCOL parameter 9th bit to 1 (CRSF option) and set the other parameter as below:

SERIALx_PROTOCOL = 23 (RCIN)
SERIALx_BAUDRATE = 115
RSSI_TYPE = 3 (ReceiverProtocol)

Ardupilot Flightmodes

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

FLTMODE_CH=12
if you are using WideSwitch mode (only available in elrs V2 and above), you can use any channel for your 8 flightmode selection (beside channel 15 which is LQ and channel 16 which is RSSI).

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! ✈