Xbee

Instructions:

Connect your Xbee modules as instructed here. Ensure that APM is connected via USB, and that you've got your ground-based Xbee connected to your PC via USB on another port.

In the CLI, type "test" to enter the test mode, then "xbee". On your PC, start the X-CTU utility. Ensure that that X-CTU is set to the right serial port for the ground-based module, and that it's set for 57600 bps (the default) or whatever you've set your Xbees and Port 3 on APM to. (In the below examples, I've set my Xbees and Port 3 to 38400).

Sample data:

On the APM side, the serial monitor should show this:

http://ardupilot-mega.googlecode.com/svn/ArduPilotMegaImages/clixbee2.png

On the PC side, the X-CTU utility should show data like this in the terminal window:

http://ardupilot-mega.googlecode.com/svn/ArduPilotMegaImages/clixbee3.png

You can also run the range test. Start it and you should see data like the following.

http://ardupilot-mega.googlecode.com/svn/ArduPilotMegaImages/clixbee1.png

Hit the "enter" key in the CLI to exit the test.

Additional notes:

If you want to run your Xbee modules at a different speed, you can set that in the APM_Config.h file. Just add this line, changing 38400 to whatever speed you want:

{{{#define SERIAL3_BAUD 38400}}}