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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/