Telemetry over cellular IP

Develop standard, re-usable inexpensive solutions for IP-enabled always-on UAVs over cellular IP networks such as GPRS, 3G, 4G etc.

Primary goal: Telemetry over low cost cellular [achieved in testing]

Secondary goal: Bi-directional GCS/Telemetry over cellular IP [achieved in testing]

Tertiary goal: High speed IP for streaming IP video over cellular 3G/4G

STATUS: Bi-directional telemetry over cellular IP (UDP or TCP) is now working. It has been flown successfully while logging live telemetry to a GCS at home, several miles away [distance is really unlimited]. Currently working on improving code, more testing and broader hardware support.

Members: 436
Latest Activity: on Monday

Current (most common) Telemetry Architecture

Proposed Architecture:

Discussion Forum

Cellular Modem library development

Started by Andreas M. Antonopoulos. Last reply by Miguel Angel Perez Nov 13, 2014. 43 Replies

Using RN-XV wifly module for telemetry (iPhone / Android)

Started by Ryan Rasmussen. Last reply by Tommy Larsen Jan 7, 2013. 37 Replies

Hooking up Drone cell

Started by Jonathan McClanahan. Last reply by Richard Sterling Oct 22, 2014. 17 Replies

Adding GPRS Telemetry to Walkera X350 Pro

Started by Robert Haddad. Last reply by Robert Haddad Oct 4, 2014. 12 Replies

Add AT/Modem commands to Arducopter v2.9.1

Started by Bernt Christian Egeland. Last reply by Veikko Vierola Jul 30, 2013. 10 Replies

Telemetry over ethernet

Started by Dylan Eave. Last reply by Dylan Eave Jan 5. 9 Replies

Pixhawk+drone cell+4G

Started by Eyeindasky. Last reply by apm makeflyeasy May 13, 2014. 9 Replies

3G Video Stream

Started by Larry Schmidt. Last reply by Euan Ramsay Feb 17. 8 Replies

iComSat v1.1

Started by Jeffrey Nichols. Last reply by Veikko Vierola Oct 15, 2012. 7 Replies

Comment Wall


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Comment by on February 14, 2015 at 11:07am

Hello guys,

Now that I received a HUGE help from someone here from this group, I am able to hook a sim900 to my PC, send AT commands, connect to UDP server, etc...

Next step is to have the sim900 to run those AT commands by itself when starting up.

Is there any tutorial anywhere about how I could insert those commands in the APM startup file ? I am a PHP programmer, but I have never compiled anything, so a list of APM compiling tools would be definitely great !

Thank you 

Comment by on February 3, 2015 at 6:53am

Hey guys,

That is a 2 year old thread now, but still really interesting.

Would any of you know of any "how-to" procedure for dummies or any dummies to make those SIM900 and MP talk to each other please ?

Thank you

Comment by Alex Cormier on November 11, 2014 at 7:38am

Richard, here's how i did it:

On the left, you see the pin layout for the Raspberry Pi. in the middle, a level shifter and on the right, a hand drawn diagram of the APM telemetry pin.

Hope this helps!

Comment by F. C. Bearsch "Tearig" on October 27, 2014 at 6:01am

Your setup that is now working have your posted it? Very interested in setting this up on my sisde to see it in operation

Comment by Richard Sterling on October 22, 2014 at 5:43am

Hello everyone,

Can some one please tell me where to hook up RX/TX on my APM for telemetry over 3G. Either via Dronecell (following Bernt Christian Egeland's instructions) or 3G USB dongle / RPI (Sakis3g) (following Soren Kula's instructions). 

I understand that the TX - RX and RX - TX, I have both on the DC and RPI but cant find it on the APM.

Also Can some one please tell me; to get the DC to boot / connect I see that the PWR pin on the DC need to be connected to the APM but I can't see where? Do I just connect it to a (+) on the A rail and it will boot when it sense current?

Thanks in advance,


Comment by Robert Haddad on September 18, 2014 at 8:31am

Hey Guys,

Quick update, I got it to connect and start getting the params, but now it freezes on one and stops loading. "One" being random once "GPS_GLITCH", once "STB_YAW_P", and a host of others. Please help. Also, I've attached another version of the code here:




Comment by Robert Haddad on September 18, 2014 at 4:38am

Hey guys,

I'm trying to implement telemetry over GPRS on my X350 Pro, so I'm using an Arduino Uno to do the configuration as per your instructions then I relay the serial communication over UDP using a SIM900D module. I initiate the UDP connection to MP, but then I get the message "Getting Params..(sysid 1 compid 1)", which continues for about 1.5 minutes then finally I get a "Connection Failed" message with the following details:

Timeout on read - getParamList
1 Packets where received, but nop paramater packets where received

at MissionPlanner.MAVLink ....

What am I doing wrong?

Here is my code for the Arduino Mega 2560:


Thank you in advance,


Comment by Bernt Christian Egeland on February 20, 2014 at 10:53am

Or you could use GoPro/usb Webcam connected to Raspberry pi with usb modem 3g /4g.
Serial connection with APM and ser2net(only TCP) or this which supports UDP :)


Bernt Christian

Comment by Dusan on February 20, 2014 at 10:45am

If you can make OTG to work as serial connection you can run ser2net on the other side make VPN connection to your ground station to avoid all IP shenanigans from your cell provider. If there is enough bandwidth you can run IP webcam and stream video to your ground station. Any phone supporting OTG should work. Finding old 4G phone can be done for less than $50. Cheaper than drone cell and more powerful. 

Comment by Greg Dronsky on February 20, 2014 at 10:31am


Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Drone Delivery Challenge, is here

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