Hi all,

I just bought an FrSky Taranis for my quad copter and needed to get the Mavlink data up on the Taranis LCD telemetry display. So here is my solution using a Teensy3.1 as a converter between MavLink and the S.Port on FrSky X8R.

See attached file below...

Views: 307541


Reply to This

Replies to This Discussion

Paul you're a star. I was under the impression these projects were interchangeable, obviously not. Really appreciate your help. I'll flash your file later and let you know the results. Many thanks again.
Hi Paul. So I've got telemetry now on my Taranis! - Very pleased. Many thanks for the file. My only issues are that my altitude is showing as -2 metres when armed which is not a mirror of what I'm seeing in MP and not correct and my HDOP appears to be displaying values back to front i.e. the higher the no of satellites I acquire the higher my HDOP value. Is there anything you think I can tweak? I did change the Temp values to T1 & T2 as you mentioned above. Many thanks.


I was testing Auto Mission yesterday and noticed that I kept hearing "Failed" called. Took me by surprise the first time but actually the mission was OK. It only happens in Auto Mode.

Watching the MavLink messages in Mission Planner it could be calling Failed each time a waypoint message was displayed, but sometimes also called when no message had appeared. I can say that the mission was a simple figure of 8, the "Failed" was called at the same places around the mission.

Has anyone detected this before?  Any advice?

I don't want to investigate further if its a known issue.



Not tested this in Auto missions yet, but a couple of questions if you will:

What Arducopter version are you running? What OpenTx version?

If you are using the latest revisions (I.e. OpenTx 2.1.7 and Arducopter 3.3), then be sure you are using the 2.1 version of this code with the coptr217 lua script, plus make sure you have all the 3.3 voice files installed. This includes additional voice files provided by OpenTx, as they changed since OpenTx 2.0.

Thanks for replying Paul.

I'll grab some version numbers when I get home later, I'm not exactly using the latest but I am running 2.1.x, probably 2.1.6 but I'll check for sure. Once I've captured the version numbers I'll update everything, I know I'm still on APM Copter 3.2.1 so 3.3 would not go a miss and I'm getting update messages on companion.


OK, this is what I have when I found the issue, I'm going to update to the latest version of everything now including the APM:Copter version.

Companion 2.1.6

Taranis BootLoader 2.1.5

Taranis Firmware 2.1.5 EU Version (I think because I don't know how to check but this is what I have stored in my downloads folder).

Clooney LUA Script (there is no version in the file), but its the 2.1 version for sure I'm juts not sure when I downloaded it.

Pixhawk runing APM Copter v3.2.1

MavLink_FrSkySPort_1.3 on the teensy


"I was testing Auto Mission yesterday and noticed that I kept hearing "Failed" called. Took me by surprise the first time but actually the mission was OK. It only happens in Auto Mode."

Hi I have that same glitch.
I assume that there is an incorrect sound file being played ?
How can I help to solve this issue?


I have been checking the code and it appears that the status messages are derived from the value sent to the T2 telemetry sensor (by the Teensy). The LUA script has a line: 

status_severity = t2%0x10

This means take the value of t2, divide it by 10(hex), and then what remains (the modulus) is assigned to status_severity. In essence this gives us the binary digits from T2 which represent the status message number. This wav file representing this number is then played. so msgxx.wav (where xx is the number)

Now to determine which wav file we need for reaching a waypoint, we need to know what the value of T2 is upon reaching a waypoint. From this we can determine the wav file number, and see if one is present with this number - I suspect not, as I just went through all 125 wav files and can not hear one which narrates the words 'waypoint reached' or even anything close to this.

So when you are next flying a mission, can you please select the sensor definition page and keep an eye on the t2 value when you hear the "failed" message shouted out? 

Hi Paul,

Thanks for checking the code, if no one answers before I will try to get some more details on Saturday looking at the T2 value.



     I have reloaded and reset  lua, teensy and  sound files every thing  I could think of ,and

  now seems to work correctly by announcing "command reached"  or something similar

on reaching way points in auto mode.??

It may have been a message from mission planer (tower) that confused me??

I will check it out this weekend


I did the same but still have the issue.

T2 =1413, so this should be 1413 / 16 = 88.31

MSG88 is  "Breach Command Number", so now I'm not sure...



1413 MOD 16 = 5

MOD gives the remainder of 1413 / 16.

In your calculation 1413/16 = 88 with a remainder or .31.

88 * 16 = 1408  and 1413 - 1408 = 5


Reply to Discussion



Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

© 2019   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service