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Pin

Use

A0

GPS RX

A1

GPS TX

A2

Pitch Servo

A3

Yaw Servo

A4

GPS 3D Fix

A5

Unused

A6

PCB USB Serial TX

A7

PCB USB Serial RX

A8

Unused

A9

Unused

A10

LED Light

Software Part

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Testing Setup

  1. Make sure your Arduino IDE supports Seeed Xiao nRF52840 board. You can follow the instruction in this link to set it up.

  2. With the Mission Planner connected to the drone, for the tracking antenna to receive the drone’s GPS message, MAVLink message needs to be forwarded to the tracking antenna. It can be done by:

    1. Ctrl + f in Mission Planner. Select MavLink. Then choose the COM Port you wish to forward the message and the baudrate('57600') of transmission speed, select write accessand hit connect to start forwarding. OR

    2. Ctrl + f in Mission Planner. Select MavLink. Then choose UDP Client, baudrate doesn’t matter here, the destination is the self-machine 127.0.0.1, then hit connect to start forwarding.

Useful Resources:

Adafruit Bluefruit nrf52 libraries for BLE: https://github.com/adafruit/Adafruit_nRF52_Arduino/tree/master/libraries/Bluefruit52Lib

BLE Walkthrough: https://wiki.seeedstudio.com/XIAO-BLE-Sense-Bluetooth_Usage/ & https://community.element14.com/technologies/internet-of-things/b/blog/posts/seeed-xiao-ble-sense-nrf52840 & https://wiki.seeedstudio.com/XIAO_ESP32C3_Bluetooth_Usage/ & https://infocenter.nordicsemi.com/index.jsp?topic=%2Fug_nrfconnect_ble%2FUG%2FnRF_Connect_BLE%2FnRF_Connect_intro.html & https://sensboston.github.io/BLEConsole/