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I have recently been pushing the limits of the XBee Pro to see how far it can go.
Unfortunately my current plane (SkyFun) only has a 38 minute duration and a maximum travel distance of 20km, this means the furtherst I have been able to go is 10Km (a 20Km return trip).
I have a 14dB patch antenna which has still shown signal of 85%+ out at this distance.

I wanted to find out how far the XBee could really go.
This meant planning a one way mission.

I spent about a week looking for the perfect start and destination, plotting the course and arranging access to the landing location with a local farmer.

The start point was my normal local park and the landing location was a farm paddock 16Km away.
The flight was over sparsely populated farm land and at a constant incline meaning I could increase altitude during the flight in order to get greater range.

My plan was to launch and monitor the flight from the launch location until I lost contact with the plane via Telemetry. After this I would drive to the landing location where the plane would be circling and manually land.

I calculated that even if I maintained contact with my plane during the flight and it made it all the way that I would still have time to make the 12 minute drive without running out of battery power.
With a tail wind, the plane would average 60Km/h at 45% throttle.

With everything planned and 45 test flights already in the bag with this airframe I was ready.

I launched and the plane took off to the waypoint as planned.
I was hoping for at least 12Km as this was ideal conditions.
The point on the map above shows the point I lost contact which is 10.6Km from the launch location.
The XBee maintained a very strong signal up until the last Km and then it began to drop off very rapidly.
It begins to be unusable below about 40%.

I packed up the ground station and drove to the destination which took just 11 minutes.
The plane was circling perfectly as expected and I put it in FBWA and landed without incident (apart from the slightly startled flock of sheep).

It turns out that the 10Km I had been flying to is around the maximum range of an XBee.

I am working on a much bigger aircraft that will have a 1 hour plus duration at a higher speed so I am going to have to look into more long range options for telemetry. GPRS / cell is preferable as we have excellent coverage here and fully routable and cheap internet plans. However, for experimentation I have been surprised at the distances that can be achieved with an XBee with a cheap patch antenna added on.

Here are a couple of tips for people wanting to achieve maximum range..

 - Minimize antenna cable length. My XBee is mounted on the back of my patch antenna and I run a long USB to my laptop. This maximizes gain and reduces lost signal.
 - I use either the ground or my car to enhance the ground plane effect. Putting the antenna in front of my car door or right beside my car makes a big difference to the distance. Also keeping it as close to the ground as possible.
 - Altitude is king, the higher you can fly the greater the achievable distance. Due to the fact my destination was on an incline, my end waypoint was 400m high relative to my starting point.
- Fly long straight missions so you can line up your antenna properly, I am building an antenna tracker that removes the need for this but Ardustation2 is currently broken since the last Mavlink updates.

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Comments

  • @Simon

    Yes, they are normally NAT'd but this can be a good thing...

    If your APM is behind a NAT and your laptop has a data card on the same network, then all IP addresses behind the same NAT are routable. That means you don't actually need internet routable addresses. You can just connect to the device as you are both behind the same NAT.

    If this doesn't work, then you can ring your service provider and ask to change the APN that your SIM is on to an Internet routable SIM. A NAT'd SIM is usually the default for simplicity but ALL providers have internet routable APN's available for customers to use. In some cases, you don't even need to ring your provider, you do a google search and look it up and change to using that APN and your in business.

    There is usually no charge for this.

    Here in NZ all our providers have fully routable non NAT'd plans by default.
    I have past experience doing this in both the USA and Australia (for my real job which is GPRS telemetry related).

    I really think GPRS is the way to go!!!

  • Using GPRS you'll have the issue of finding a provider that will give you a public IP on the device. They are normally NAT'd.

  • Have a look at the 868 XBees. They have HUGE ranges. I don't know what would be needed to make it work with APM but I've personally used them on Arduino projects before and had > 10 miles.

  • Moderator

    @Sgt Ric

    I am well aware of APM not being illegal, as that was not my question. The context of the question was DIYdrones Xbee's which I was asking were they legal to use in Canada given the tight restrictions on the Radio Spectrum. Proximity to airports and 400' max is common sense. You can still follow every rule in the book, but if the telemetry units you are using are not approved by Industry Canada, then it is illegal, which was my original question. Not so much a ridiculous question after all?

     

    I have been doing the necessary research on SFOC's  and working commercially in Canada under the context of Transport and Industry Canada, trying to ensure all gear I use is legal for commercial use. As it stands now, the Xbee replacements offered on goodluckbuy transmit on 431-470mhz, neither frequency of which is legal to do so without a license.

    The manufacturer needs to be in their database and approved for it to be legal to use.  I searched prior to completing this post and the xbee's do come up on the approved list. Most of the results are for  2.4ghz units but this one  and this one is for 900mhz. I know it says approved on the diydrones website but I like to ensure the info myself.

  • Great work, Toby.  This is the type of article I love to see here.  Well thought out, well planned, and equally well executed - yielding useful information and a great conversation.  Keep it up.  Have you considered the (relatively expensive) microHard or Digi 9Xtend modems?

  • Good work Can you test the range with 3dbi dipole and patch?

     

  • The big boys with the predictors and reapers land and take off locally because of the latency of the satellite link. Different cause, but same result, control lag or latency. All most guarantied to cause a PIO (pilot induced oscillation).

     

  • I would never give up the RC link. I would enhance it(dragonlink ?). Going thru 2 computers and Xbees also leaves a lot to go wrong as well as adds control latency. It's not the distance, it's the processing and Xbee. I would always want a hardware fail safe,but hey, that's just me.

  • @Greg.
    I suppose it depends if you consider your project an RC plane with an onboard autopilot or a drone.
    Personally, I have other models I fly for the joy or RC but for this project I consider RC as an unfortunate backup that must be used. The title of the site is "DIY drones" not "DIY RC models with autopilots" :)

    If the autopilot is built with enough redundancy and smarts then you should never need to use RC. It's a safety net many people struggle to let go of but I have done over 40 flights only using the RC link to flare for landings. If we got sonar working it would not be needed at all.
  • @ Julian,

     10 km / (299.8 km/ms) = 0.0343 ms.

        You would never see it.

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