{"id":1828,"date":"2018-06-17T17:25:32","date_gmt":"2018-06-17T08:25:32","guid":{"rendered":"http:\/\/gotocloud.co.kr\/?p=1828"},"modified":"2018-06-17T20:05:27","modified_gmt":"2018-06-17T11:05:27","slug":"telemetry-over-cellular-ip-network-for-pixhawk-flight-controller","status":"publish","type":"post","link":"https:\/\/gotocloud.co.kr\/?p=1828","title":{"rendered":"Telemetry over cellular IP network for Pixhawk flight controller"},"content":{"rendered":"<h3><strong>1. Objectives<\/strong><\/h3>\n<p>In this article, to verify the feasibility of the cellular IP network for drone\u2019s beyond-line-of sight flight, the implementation of the telemetry over cellular IP network will be described<\/p>\n<p>&nbsp;<\/p>\n<h3><strong>2. Conceptual design<\/strong><\/h3>\n<h3><strong><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc1.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1847 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc1-300x137.jpg\" alt=\"\" width=\"300\" height=\"137\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc1-300x137.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc1-768x352.jpg 768w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc1-1024x469.jpg 1024w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc1-900x412.jpg 900w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc1.jpg 1755w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/strong><\/h3>\n<p>(1) Pixhawk is connected to the cell phone via MAVlink protocol<\/p>\n<p>(2) The Cell phone and the GCS computer are connected to the internet via cellular network such as 3G, LTE<\/p>\n<p>(3) The VPN server located in the internet assigns IP addresses to the cell phone and the GCS computer<\/p>\n<ul>\n<li>Because almost carriers don\u2019t provide public IP address to the cellular devices, for the direct connection between the cell phone and the GCS computer, the VPN server is used to assign IP addresses<\/li>\n<li>If the public IP addresses are assigned to the cell phone or the GCS computer, the VPN server may not be needed<\/li>\n<\/ul>\n<p>(4) The GCS computer can be connected via wire, wireless network to the internet<\/p>\n<p>&nbsp;<\/p>\n<h3><strong>3. Preparation for implementation<\/strong><\/h3>\n<p>(1) Pixhawk flight controller and android cellular phone supporting OTG<\/p>\n<p><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc2.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1849 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc2-300x162.jpg\" alt=\"\" width=\"300\" height=\"162\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc2-300x162.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc2-768x414.jpg 768w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc2-1024x552.jpg 1024w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc2-900x485.jpg 900w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc2.jpg 1835w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<ul>\n<li>If the cell phone supports OTG, when the Pixhawk and the cell phone are connected, LED of the Pixhawk blinks<\/li>\n<\/ul>\n<p>(2) VPN server and client software<\/p>\n<ul>\n<li>The VPN server software which supports L2TP (Layer 2 Tunneling Protocol) over IPsec is recommended<\/li>\n<li>The VPN server maybe installed on a separate server located in the internet such as AWS or Azure cloud or maybe installed on the GCS computer which has public accessible IP address<\/li>\n<li>In this implementation, <a href=\"http:\/\/www.softether.org\">Softether VPN<\/a> is used for VPN server and client\n<ul>\n<li>Refer <a href=\"https:\/\/gotocloud.co.kr\/?p=1371\">https:\/\/gotocloud.co.kr\/?p=1371<\/a> and\u00a0<a href=\"https:\/\/gotocloud.co.kr\/?p=1446\">https:\/\/gotocloud.co.kr\/?p=1446<\/a> for Softether VPN server and client software setup procedures<\/li>\n<li>L2TP IPsec VPN client setup for an android cell phone is described in <a href=\"https:\/\/gotocloud.co.kr\/?p=1459\">https:\/\/gotocloud.co.kr\/?p=1459<\/a><\/li>\n<\/ul>\n<\/li>\n<li>If you want to use another VPN server and client (such as OpenVPN or any commercial VPN equipment), check whether the VPN server provides public accessible IP addresses to the cell phone and the GCS computer<\/li>\n<\/ul>\n<p>(3) MAVlink application for an android cell phone<\/p>\n<ul>\n<li>MAVlink application which supports TCP or UDP connection from the GCS (Mission planner or QGC)\n<ul>\n<li><a href=\"https:\/\/play.google.com\/store\/apps\/details?id=com.psmitty.mavcell.beta&amp;hl=en_GB\">MAVCell-Beta<\/a> \u00a0is used in this implementation<\/li>\n<\/ul>\n<\/li>\n<li>To get the IP address information of the cell phone, <a href=\"https:\/\/play.google.com\/store\/apps\/details?id=aws.apps.networkInfoIi&amp;hl=ko\">Network Info II<\/a> \u00a0is recommended to be installed<\/li>\n<\/ul>\n<p><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc3.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1850 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc3-300x255.jpg\" alt=\"\" width=\"300\" height=\"255\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc3-300x255.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc3.jpg 370w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<p>(4) GCS computer connected to the internet<\/p>\n<ul>\n<li>Mission Planner and <a href=\"https:\/\/www.softether.org\/3-screens\/2.VPNclient\">VPN client<\/a> software are installed on the GCS computer<\/li>\n<\/ul>\n<p><strong>\u00a0<\/strong><\/p>\n<h3><strong>4. Instruction<\/strong><\/h3>\n<p>(1) Establish L2TP IPsec VPN connection in the cell phone<\/p>\n<ul>\n<li>Before you start to setup VPN connection in the cell phone, you should install the VPN server previously. The instructions of the VPN server setup are described in <a href=\"https:\/\/gotocloud.co.kr\/?p=1371\">https:\/\/gotocloud.co.kr\/?p=1371 <\/a>and <a href=\"https:\/\/gotocloud.co.kr\/?p=1446\">https:\/\/gotocloud.co.kr\/?p=1446<\/a><\/li>\n<\/ul>\n<p style=\"text-align: center;\"><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc4.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-1851 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc4-300x120.jpg\" alt=\"\" width=\"300\" height=\"120\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc4-300x120.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc4-768x306.jpg 768w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc4-1024x408.jpg 1024w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc4-900x359.jpg 900w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc4.jpg 1493w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<p style=\"padding-left: 30px;\">\u2460 In the cell phone, go to \u201cSystem Settings -&gt; More networks\u201d and select \u201cVPN\u201d<\/p>\n<p style=\"padding-left: 30px;\">\u2461 In \u201cVPN\u201d setup menu, click \u201c+\u201d to add new VPN<\/p>\n<p style=\"padding-left: 30px;\">\u2462 Add VPN name as \u201cDrone VPN\u201d or as what you want. Next, set the VPN type as \u201cL2TP\/IPSec PSK\u201d<\/p>\n<p style=\"padding-left: 30px;\">\u2463 Input the VPN server IP address or domain name<\/p>\n<p style=\"padding-left: 30px;\">\u2464 Input the \u201cIPsec pre-shared key\u201d which is assigned in the VPN server<\/p>\n<p style=\"padding-left: 30px;\">\u2465 You can see the \u201cDrone VPN\u201d in the \u201cVPN\u201d setup<\/p>\n<p><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc5.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1852 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc5-300x120.jpg\" alt=\"\" width=\"300\" height=\"120\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc5-300x120.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc5-768x306.jpg 768w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc5-1024x408.jpg 1024w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc5-900x359.jpg 900w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc5.jpg 1493w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<p style=\"padding-left: 30px;\">\u2466 Click \u201cDrone VPN\u201d added in the previous setup<\/p>\n<p style=\"padding-left: 30px;\">\u2467 To connect \u201cDrone VPN\u201d, input \u201cUsername\u201d and \u201cPassword\u201d prescribed in the VPN server<\/p>\n<p style=\"padding-left: 30px;\">\u2468 If the VPN connection is established, \u201cConnected\u201d message will be appeared<\/p>\n<p style=\"padding-left: 30px;\">\u2469 After the connection established, execute \u201cNetwork Info II\u201d app and remember the IP address of \u201cppp0\u201d assigned by the VPN server. In this example, \u201c192.168.30.10\u201d is assigned by the VPN server. This IP address will be used to connect from the GCS computer through cellular network<\/p>\n<p>(2) Connect the Pixhawk using OTG USB cable and establish MAVlink connection with the cell phone<\/p>\n<p style=\"text-align: center;\"><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc6.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-1853 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc6-300x125.jpg\" alt=\"\" width=\"300\" height=\"125\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc6-300x125.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc6-768x320.jpg 768w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc6-1024x426.jpg 1024w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc6-900x374.jpg 900w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc6.jpg 1418w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<p style=\"padding-left: 30px;\">\u2460\u00a0 Connect the cell phone and the Pixhawk flight controller using OTG USB cable and check the establishment of connection. If the connection is established, LED\u2019s of the Pixhawk start to blink<\/p>\n<p style=\"padding-left: 30px;\">\u2461 In the cell phone, execute the \u201cMAVcell beta\u201d app for the MAVlink connection and set the Baud Rate as 11520<\/p>\n<p style=\"padding-left: 30px;\">\u2462 Check the \u201cServer Mode?\u201d box<\/p>\n<p style=\"padding-left: 30px;\">\u2463 Set \u201c5760\u201d in the \u201cServer\/Client Port\u201d field<\/p>\n<p style=\"padding-left: 30px;\">\u2464 Push the \u201cOpen COM Port\u201d and check the \u201cOpen COM Port\u201d button becomes gray<\/p>\n<p style=\"padding-left: 30px;\">\u2465 Push the \u201cStart COM\/TCP\u201d port and if successful, the \u201cStart COM\/TCP\u201d button becomes gray<\/p>\n<p>(3) Establish the VPN connection using VPN client software on the GCS computer<\/p>\n<ul>\n<li>Before you start to establish the VPN connection between the cell phone and the GCS computer, you should install the VPN client software on your GCS computer previously. The instructions of the VPN client setup are described in <a href=\"https:\/\/gotocloud.co.kr\/?p=1371\">https:\/\/gotocloud.co.kr\/?p=1371 <\/a>and <a href=\"https:\/\/gotocloud.co.kr\/?p=1446\">https:\/\/gotocloud.co.kr\/?p=1446<\/a><\/li>\n<\/ul>\n<p style=\"text-align: center;\"><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc7.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-1854 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc7-300x183.jpg\" alt=\"\" width=\"300\" height=\"183\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc7-300x183.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc7-768x469.jpg 768w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc7-1024x626.jpg 1024w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc7-900x550.jpg 900w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc7.jpg 1154w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<p style=\"padding-left: 30px;\">\u2460 In the VPN client, click the VPN server tab (AWS VPN in this example) for connecting VPN<\/p>\n<p style=\"padding-left: 30px;\">\u2461 If connected successfully, the VPN server assigns IP address such as \u201c192.168.30.11\u201d<\/p>\n<p style=\"text-align: center;\"><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc8.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-1855 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc8-300x137.jpg\" alt=\"\" width=\"300\" height=\"137\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc8-300x137.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc8-768x352.jpg 768w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc8-1024x469.jpg 1024w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc8-900x412.jpg 900w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc8.jpg 1755w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<ul>\n<li>The VPN connection between the cell phone and the GCS computer by the VPN tunnel is established. Both devices are the member of 192.168.10.x subnet, therefore the Mission Planner on the GCS computer can connect to the cell phone directly through the VPN tunnel<\/li>\n<\/ul>\n<p>(4) Connect to the Pixhawk in the Mission Planner<\/p>\n<p><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc9.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1856 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc9-300x180.jpg\" alt=\"\" width=\"300\" height=\"180\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc9-300x180.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc9-768x461.jpg 768w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc9-1024x615.jpg 1024w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc9-900x540.jpg 900w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc9.jpg 1401w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<p style=\"padding-left: 30px;\">\u2460\u00a0In the Mission Planner, select the connection type as \u201cTCP\u201d and push &#8220;CONNECT\u201d button<\/p>\n<p style=\"padding-left: 30px;\">\u2461 Enter the IP address of the cell phone &#8211; \u201c192.168.10.30\u201d assigned in 4-(1) &#8211; in the \u201cEnter host name\/ip\u201d field<\/p>\n<p style=\"padding-left: 30px;\">\u2462\u00a0 Enter the remote port as \u201c5760\u201d as described in 4-(2) section<\/p>\n<p style=\"text-align: center;\"><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc10.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-1857 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc10-300x162.jpg\" alt=\"\" width=\"300\" height=\"162\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc10-300x162.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc10-768x413.jpg 768w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc10-1024x551.jpg 1024w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc10-900x485.jpg 900w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc10.jpg 1980w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<ul>\n<li>The connection between the Mission Planner and the Pixhawk is established, the Mission Planner starts to get parameters from the Pixhawk through the VPN network over the cellular network<\/li>\n<\/ul>\n<p><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc11.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1858 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc11-300x162.jpg\" alt=\"\" width=\"300\" height=\"162\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc11-300x162.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc11-768x414.jpg 768w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc11-1024x552.jpg 1024w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc11-900x485.jpg 900w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc11.jpg 1705w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<ul>\n<li>When the connection is established, the moving of Pixhwak is appeared in the HUD<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3><strong>5. Test Flight<\/strong><\/h3>\n<p style=\"text-align: center;\"><a href=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc12.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-1859 size-medium\" src=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc12-300x114.jpg\" alt=\"\" width=\"300\" height=\"114\" srcset=\"https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc12-300x114.jpg 300w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc12-768x292.jpg 768w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc12-1024x389.jpg 1024w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc12-900x342.jpg 900w, https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/\uadf8\ub9bc12.jpg 1649w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<ul>\n<li>Waypoints were assigned through the cellular network and arming and mission start commands were executed in the Mission Planner without RC transmitter<\/li>\n<li>The flight altitude was set up as 30 m high above the home position<\/li>\n<li>After the waypoint flight, manual flight about 100 m high altitude was carried out<\/li>\n<\/ul>\n<p>[embeddoc url=&#8221;https:\/\/gotocloud.co.kr\/wp-content\/uploads\/2018\/06\/20180617-Cellular-telemetry-test.pdf&#8221; viewer=&#8221;google&#8221;]<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1. Objectives In this article, to verify the feasibility of the cellular IP network for drone\u2019s beyond-line-of sight flight, the implementation of the telemetry over [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":1860,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[327,325,328,324,326,212],"_links":{"self":[{"href":"https:\/\/gotocloud.co.kr\/index.php?rest_route=\/wp\/v2\/posts\/1828"}],"collection":[{"href":"https:\/\/gotocloud.co.kr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/gotocloud.co.kr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/gotocloud.co.kr\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/gotocloud.co.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1828"}],"version-history":[{"count":7,"href":"https:\/\/gotocloud.co.kr\/index.php?rest_route=\/wp\/v2\/posts\/1828\/revisions"}],"predecessor-version":[{"id":1865,"href":"https:\/\/gotocloud.co.kr\/index.php?rest_route=\/wp\/v2\/posts\/1828\/revisions\/1865"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/gotocloud.co.kr\/index.php?rest_route=\/wp\/v2\/media\/1860"}],"wp:attachment":[{"href":"https:\/\/gotocloud.co.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1828"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/gotocloud.co.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1828"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/gotocloud.co.kr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1828"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}