TBS CROSSFIRE R/C System Revision 2020-02-21 Adaptive Long Range Remote Control System The TBS CROSSFIRE (XF) system is a R/C link system made for FPV enthusiasts. It features unheard of range without sacrificing basic functionality such as being immune to interference from onboard equipment, low latency control or two-way communications including telemetry functionality.
Table of content Attention Drone Racing Environment Crossfire LED Color Coding Overview Setup Connecting CROSSFIRE Standard Transmitter to radio Using JR-adapter Using Hitec/Graupner/JR-cable Using Futaba-cable Using custom PPM cable CRSF with other radios Connecting CROSSFIRE Micro transmitter to radio Push button functionality Connecting CROSSFIRE Diversity receiver Connecting CROSSFIRE Micro receiver Connecting CROSSFIRE Nano receiver Binding Auto bind Head-tracking Set failsafe BST Connectivity with TBS
Preparations Simulating flight Simulating a Crash Search and rescue Link regained Transmitter LED status indicator Receiver LED status indicator Real-time telemetry using app link Configuration Standard transmitter configuration Micro transmitter configuration Receiver PWM or PPM servo output Receiver SBUS output Receiver RSSI or/and LQ output Serial bridge MAVLink MAVLink APM Disable telemetry CRSF DSMX SmartAudio Transmission power Dynamic transmission power Transmission frequency Operating modes RF Profi
Setting up radio for CRSF Setting up receiver for CRSF Configuring BetaFlight for CRSF protocol Discovering telemetry data sensors Configuration of CORE PRO / CROSSFIRE RX with LUA Scripts or the TBS TANGO Requirements Setup Telemetry Firmware upgrade Installing TBS Agent Emergency update FAQ Good practices FCC statement FCC ID of TBS Crossfire Products 4
Specifications Type: Long Range Two-Way Remote Control System Band: Europe: 868 MHz SRD Band America: 915 MHz ISM Band RF power Radio Signal & Telemetry downlink: Micro TX: Selectable 25mW and 100mW (250mW with FW 2.
Attention A general rule for RC aircrafts is that they must be controlled always under sight of view, check your RC regulation to keep up to date with regulations. Drone Racing Environment Crossfire Firmware V3.23 and above incorporates Racing Spec Firmware designed for race directors to effectively manage power output on CROSSFIRE for drone racing. When using TBS CROSSFIRE control link, it is a requirement that all pilots use exactly the same power output.
Overview The following diagram indicates the essential inputs and features of the transmitter and receiver.
Micro transmitter module: Micro receiver unit: Nano receiver unit: 8
Setup Getting set up and ready to fly is a quick and simple task. In most cases plug&play when using common R/C equipment. Connecting CROSSFIRE Standard Transmitter to radio Using JR-adapter The kit comes with a JR-adapter which simply works as a connection bridge between the JR-pins on the radio and the TBS CROSSFIRE transmitter. The adapter simply fits into the slot on the back of the radio. The radio battery power to the TBS CROSSFIRE and no additional power is necessary for RF output up to 500mW.
Power on the radio, configure a new model profile and enable the external RF module - see the radio manufacturers manual for further details on how to complete this step. Using Hitec/Graupner/JR-cable If you own a Hitec, Graupner or JR radio (does not work for Spektrum radios) without a JR-module slot, you can still use the trainer output connector to get the necessary power and PPM control signals to the TBS CROSSFIRE transmitter. Note that this will not provide CRSF-data, see the following section.
Using Futaba-cable For Futaba radios you can use the trainer port to feed the PPM signal to the TBS CROSSFIRE transmitter. Connect the included cable to the radio trainer port and the other end to the left port (RC) on the transmitter. Using custom PPM cable If you want to connect any other radio, or have a custom setup, you can use the 3-pin pigtail-cable and solder the wires according to the table below to suit your needs.
Connecting CROSSFIRE Micro transmitter to radio The CROSSFIRE Micro TX has a standard JR-form factor and works with any radio that supports PPM-stream and/or TBS CRSF-format output. Transmitter power is selectable between 25mW and 100mW (250mW with FW 2.40 or later) and TX status is shown using a RGB LED-light behind the push button. Frequency band 868 MHz and 915 MHz are supported.
The CROSSFIRE Micro TX module fits perfectly on the back of the TBS TANGO FPV remote. It clips easily in place and can use the telemetry compatible CRSF-format between the module and radio.
Connecting CROSSFIRE Diversity receiver The compact receiver unit fits everything from small multirotors to very large airplanes. The receiver is capable up to 8.4V and needs at least 4.5V input voltage. This can be applied to any of the eight servo headers, e.g. a servo cable from a ESC with BEC, or a stand-alone BEC, with a suitable amperage rating min. 1A recommended.
Connecting CROSSFIRE Micro receiver V1: The TBS CROSSFIRE micro receiver comes with two sockets. One is for BST capability (BlackSheep Telemetry), the other is for one (1) R/C output which can be configured to either PWM, PPM, SBUS, or CRSF. The receiver can run off anything between 4.5V and 8.4V and can either drive one servo, or connect to any PPM or SBUS capable flight control. Binding the receiver to the transmitter is described on the next page and is the same as the diversity receiver.
Connecting CROSSFIRE Nano receiver The CROSSFIRE Nano RX has much of the same feature set as the TBS CROSSFIRE Micro RX but on a smaller form factor and without connectors. The small size allows you to save space and weight, while still retaining the key features that make the CROSSFIRE system flexible and reliable. Note: Firmware 2.24 or newer required! Make sure to update the CROSSFIRE TX before trying to bind the receiver.
Note that the squared-pin has change in later revisions, but the pinout is still the same. Binding Binding the transmitter and receiver is super simple. 1. Just power up the TBS CROSSFIRE transmitter 2. On the standard transmitter, enter the configuration menu by pressing and holding the joystick for 3 seconds, select “General” and “Binding” - a message “Binding” will start blinking, waiting for the receiver. On the micro transmitter, a short press on the button will initiate binding mode.
means that you need to update your receiver. On the standard TX, radio you need to follow the instructions shown on the screen. For the Micro TX, a short press on the button will initiate the update. Auto bind Since FW 2.31, the CROSSFIRE can bind to a previously bound receiver without the need of pushing the “Bind” button on the receiver. Just the transmitter needs to initiate the binding process. This also applies if you need to update your RX.
Set failsafe Setting the R/C failsafe parameters is a very important part of the configuration, don't skip it! You never know when you will have problems with uplink and lose control of your aircraft. It can go into a predefined position of the channels (position) or the receiver turns "dead" (cut) and outputs no more signals to the servos, FC, etc.
● TBS GPS - Can only be powered by the BST 5V ● TBS CURRENT SENSOR - Provides VBatt but needs BST 5V to run itself ● TBS CROSSFIRE RX - Can be powered over one of the eight servo connectors or by BST 5V ● TBS CORE PRO / FPVISION - This is only device is providing 5V on the BST line Power type: BST 5V VBATT TBS CROSSFIRE ✔ PWR IN TBS BLACKBOX ✔ PWR IN TBS GPS ✔ PWR IN TBS CORE PRO / FPVISION ✔ PWR OUT ✔ PWR IN TBS CURRENT SENSOR ✔ PWR IN ✔ PWR OUT ESC BEC 5V FC 5V ✔ PWR IN ✔ PWR IN T
Controlling UNIFY PRO VTX with SmartAudio After the Sept. 2017 firmware update, the CROSSFIRE RX Micro V2 (DIVERSITY RX not supported) can be directly connected to a TBS UNIFY PRO video transmitter and be controlled using our SmartAudio technology. SmartAudio provides UART and I2C control for your video transmitter. Parameters such as output power, bands, channels and frequency can be freely controlled.
Operation Status display After power-on, the main screen shows the current state of the transmitter, i.e. link status, transmission power, R/C- and head-tracking input signal state.
CROSSFIRE runs different RF Profiles at time. For a better understanding which RF profile is active we assume 50Hz update rate as 100%. This will give you up to 300% LQ for operation mode normal and up to 100% LQ for force telemetry. Any LQ above 80% is fine. LQ at 50% you can still comfortably fly a gimbal-quad in ATTI or GPS mode since there is still a certain amount of valid data reaching the flight controller. Note: Since firmware V2.
receiver by looking at the signal strength indicator. Print out the DIY reflector template included on the last pages of this manual with no scaling on thick paper, place a of aluminium foil on top of the main reflector sheet and cut out the shapes with an exacto knife. Place the reflector in the middle of the antenna. How does find mode work Please see the flowchart to see when the receiver decide to shut down or enter find mode.
Preparations The find mode needs to be armed before it will take any action. ● Receiver only: ○ ● Receiver with GPS: ○ ● Power up receiver and transmitter and make sure they are connected to each other. Make all steps above and ensure the GPS is having a solid sat lock. Receiver with GPS and TBS CORE PRO: ○ Make all steps above and simulate a take off. This can be done throttle above 3A or walking your receiver until you see the take off message on the OSD.
Simulating a Crash A crash can happen in different ways. Let’s simulate it only :) Here are some scenarios. ● Turn off your transmitter ( failsafe ) and move your plane to another spot (scenario: flying behind a mountain, with subsequent crash ) ● Power down the battery (scenario: battery eject on crash) ● Just let it sit there (scenario: landing in a tree) Search and rescue The copter/plane is lost - now we’ll start the S&R mission.
Transmitter LED status indicator The RGB LED on the transmitter gives you at any moment an indication of your link status. Going from green to yellow. Once you are in yellow your RSSI values are either very low or you are already in the low-framerate link mode.
Red ▀▀▀ Backup battery is charging (Diversity RX only) The backup battery is used if the model gets lost. The receiver can stay alive even if the entire plane or copter does not have power anymore.
Real-time telemetry using app link The transmitter has a wireless close range telemetry module built-in for easy telemetry distribution to a PC, MAC, tablet or phone. TBS CROSSFIRE supports different modes for different use cases. Note: This section is only applies if you are using the Standard TX. The Micro TX is not equipped with Bluetooth module. • OFF ○ Close range telemetry module is completely disabled and won’t show up if you search for devices.
Real-time telemetry updates will now stream from the CROSSFIRE transmitter to your handheld device. For instance a live map overlay makes this a great way to track race performance or to locate a down aircraft.
Configuration Changing any setting related to the TBS CROSSFIRE R/C link is done using a handy OLED display and five-way joystick on the back of the standard transmitter (Standard TX), or via the TBS TANGO display for the micro transmitter or by OpenTX LUA scripts. All configuration for the receiver, including servo signal type and binding, can be initiated from the display only.
Receiver PWM or PPM servo output The default setting is to output traditional PWM signals on all channels on the receiver. To output CRSF, e.g. for multirotors, you can enable this in the configuration menu. Each channel can be configured independently to output traditional PWM, RSSI, LQ or RSSI/LQ combined. Each channel can be configured as shown below. To change output mapping: 1. Power on both the transmitter and receiver 2.
6 PWM Ch1 bis 12, RSSI, LQ, RSSI/LQ, Serial RTS PWM Ch. 6 7 PWM Ch1 bis 12, RSSI, LQ, RSSI/LQ, Serial RX, MAVLink RX, CRSF RX PWM Ch. 7 8 PWM Ch1 to 12, RSSI, LQ, RSSI/LQ, SBUS, n.i.SBUS, Serial TX, MAVLink TX, CRSF TX, DSMX, SmartAudio PWM Ch. 8 Receiver pin Output type Micro V2/ Nano rx Default value 1 PWM Ch1 bis 12, PPM, RSSI, LQ, RSSI/LQ, SBUS, n.i.
Sensor Prewarning Critical RSSI 30% 20% LQ 70% 60% RSSI/ LQ 30% 20% . Since fw 2.32 LQ will stay at 100% while the CROSSFIRE transmits in 150Hz mode. When it switches to 50Hz mode you will see that it drops slightly. If you want to get a audio warning for your OpenTX radio you can use this short manual. Serial bridge The bridge feature gives you the ability to pass any kind of serial uart data from any device connected to the receiver to any device connected to the transmitter.
Also, if you enable MAVLink for the capable output there will be an option to send RC signals over the MAVLink connection. You can find this setting under “RX Diversity” menu called “MAVLink PPM”. If this setting is enabled there is no PPM, SBUS connection required anymore between TBS CROSSFIRE and the FC. Note this MAVLink message (RC_CHANNELS_OVERRIDE) will only send channel 1 to 8 to the FC even if TBS CROSSFIRE is set to 12 channels.
MAVLink APM For APM (ArduPilot) the telemetry port also need to be configured on the FC side. Otherwise you only will get telemetry if you connect by Tower app or similar first. Please use mission planner for configuration. Settings can be found under “CONFIG/TUNING”-tab → “Full Parameter Tree” ‘→ “SR1-SR2”. SR1 stands for telemetry port 1 and SR2 for telemetry port 2. Configure the telemetry port you are using according to the sample below. Disable telemetry Telemetry can be disabled under RX Settings.
DSMX DSMX is designed to use the Crossfire as a backup system for Spektrum receivers. SmartAudio With SmartAudio you can control your Unify VTX straight through the CROSSFIRE Menu/ LUA Script. You can setup your channel, band, power level or a custom frequency. All versions of SmartAudio are supported.
Transmission power The transmitter’s RF output power is highly configurable and can be selected dynamically via the menu. It defaults to 100mW and will provide 15 km of safe range in rural conditions. It is recommended to use dynamic power option. This will allow you to fly at very low power and the system will increase the power automatically (faster than you can hit the power switch yourself) if you are about to lose the link.
itself and can be fixed by following this guide by boltrc.com.
Dynamic transmission power The system can automatically choose the power level most suitable for the situation at hand. For instance, if you fly close to the transmitter you normally only require minimal TX power and the system will therefore switch to lowest possible TX power level required to maintain a good up-link. The maximum TX power level the system is allowed to use, can be defined by changing “Max Power” in the configuration menu. To enable dynamic power: 1.
Operating modes The link has two operation modes which are based on three RF profiles. Every mode has its pros and cons. TBS CROSSFIRE always switches between two RF profiles, depending on the current link health while you are flying. The two profiles used is according to your decision to use “Normal” or “Force telemetry” modes. Which two RF profiles are in use for each mode is showed in the diagram above. We recommend to use the default “Normal” mode as is fits the most of the use cases.
RF Profiles ● High bandwidth / Low latency profile This mode is tuned for ultra-high update-rate and super low latency. Stick inputs translates to almost instantaneous reaction (150Hz). It is capable of exchanging large amounts of serial data in both directions besides the regular RC signals. The range of this mode is lower but comparable to other LRS systems on the market. Provides full MAVLink or serial bridge, if used.
MyVTX With the new MyVTX menu you can set all your vtx’s to the same channel, band and output power. To use the MyVTX settings, update your TBS Crossfire to FW 3.21. Connect your vtx to the crossfire receiver by CRSF or Smart Audio (details in the previous chapters).
CRSF Connectivity with flight controller (COLIBRI) Getting either of our CROSSFIRE receivers connected to the flight controller (BetaFlight/COLIBRI) through our CRSF serial protocol enables you to have the most accurate and low-latency remote control possible on the market. By integrating the CRSF protocol end-to-end (currently supported on TBS TANGO, Taranis/OpenTX, BetaFlight FC, KISS FC and INav) allows you to make the full use of the new bidirectional protocol.
Wiring layout Since the CRSF protocol is serial, it has to be connected to a free serial/UART port on the flight controller. On the COLIBRI RACE you can choose UART 1 or 3. If you use the POWERCUBE with FPVision, you can use also use UART2. The pin-out and wiring layout shown in the following table and on the included diagram. CROSSFIRE MICRO V1 RX CROSSFIRE MICRO V2 RX/ Nano RX CROSSFIRE DIVERSITY RX Clean-/BetaFlight Serial port (COLIBRI or other) Ch./Pin 1 TX Ch./Pin 1 TX, 5V, GND Ch.
Setting up radio for CRSF With the CROSSFIRE transmitter in place on the radio, you have to change, or make sure, that the internal radio is OFF and the external radio protocol (between the radio and transmitter module) is set to CRSF. On the CROSSFIRE transmitter OLED display, you should now see “RC Input: CRSF V2”, meaning you have CRSF enabled and running.
Configuring BetaFlight for CRSF protocol Last thing is to set up BetaFlight. Open the configurator and connect USB to the the flight controller. Hit “Ports” and disable UART2 and enable UART3. Click “Save and reboot”. Next, open the “Configurations” and in the “Receiver” section pick “Serial based receiver” and “CRSF”. To allow flight controller telemetry to be sent back, make sure “Telemetry” is enabled in the “Other features” section.
Discovering telemetry data sensors To get the new telemetry data running and showing on the radio, you have to update and discover the new remote sensors available. On taranis, select the model and go to the “Telemetry” page. Delete all the old sensors, if any, and hit “Discover new sensors”. Momentarily, the new (four character) sensors will populate the list, f.ex.
You can now assign the telemetry data points as you want to the main radio screens and set up any alarms that might come in handy. Having the radio stats on one screen and flight critical information on anther provides a fine way of keeping on top operations.
Configuration of CORE PRO / CROSSFIRE RX with LUA Scripts or the TBS TANGO The CROSSFIRE allows bidirectional communication, that means the radio display interface (currently only OpenTX radios supported) can used to remotely configure any TBS device (currently CROSSFIRE, CORE PRO) over the BST connection. Requirements The following requirements must be fulfilled to be able to use this feature: • Any OpenTX radio (any Taranis, Horus) with OpenTX 2.2.
All the supported TBS devices that is connected via BST to the CROSSFIRE RX will show up immediately, e.g. “TBS CROSSFIRE TX”, “TBS CROSSFIRE Diversity RX” or “TBS CORE PRO”. Pick either to change the settings. TBS CROSSFIRE TX settings: TBS CORE PRO / FPVision settings: TBS CROSSFIRE RX: Note: The outputs 7 and8 are only available if the receiver is a diversity rx.
The VTX settings does only appear when the corresponding output has been configured to SmartAudio and the SA wire of a UNIFY PRO is connected to it. The changes will be committed once you leave the settings page.
Telemetry The following table provides an overview of the telemetry points available for the TBS compatible equipment. Note that Pixhawk APM and EagleTree telemetry is not included here.
Firmware upgrade Updates to the CROSSFIREis applied using our TBS Agent software. This takes care of all the downloading of the latest firmware, verification- and upgrade process. Installing TBS Agent Download the installer from http://www.team-blacksheep.com/corepro/agent (Windows7/8/10+, 64-bit required) - no drivers needed to use the application, but an Internet connection is required to download the latest firmware versions.
update procedure. For the devices with USB it is very simple. You just press and hold the bind button for the diversity receiver or the joystick enter button for the transmitter while you plug in the USB cable. The device will show up inside the TBS Agent and you have the ability to reload the firmware. For the micro receiver it is a little bit more complicated. As the device itself does not have a USB connecter the firmware needs to be loaded by BST for emergency update.
FAQ Some common and some special outlier questions for the CROSSFIRE system.
Good practices We have compiled a list of all of practices which have been tried and tested in countless environments and situations by the TBS crew and other experienced FPV pilots. Follow these simple rules, even if rumors on the internet suggest otherwise, and you will have success in FPV. ● Start with the bare essentials and add equipment one step at a time, after each new equipment was added to proper range- and stress tests.
● Improving the antenna gain on the receiver end is better than increasing the output power (except in RF-noisy areas). More tx power causes more issues with RF on your plane. ● Try to achieve as much separation of the VTx and R/C receiver as possible to lower the RF noise floor and EMI interference. ● Do not buy the cheapest equipment unless it is proven to work reliably (e.g.
FCC statement This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment.
FCC ID of TBS Crossfire Products Crossfire TX - FCC ID: QOS-TX2W Crossfire Micro TX - FCC ID: QOS-TXMICRO Crossfire Micro RX - FCC ID: QOS-RXMICRO Crossfire Nano RX - FCC ID: QOS-RXNANO Crossfire Nano Diversity RX - FCC ID: QOS-RXNANODIV Manual written and designed by ivc.no in cooperation with TBS.
