MicoAir-WiFi-Link Multi-Drone Networking Guide

STA Mode and Configuration Preparation #

STA Mode Overview #

In STA mode, the MicoAir-WiFi-Link operates as a wireless client and connects to an existing router. The flight controller connects to the Wi-Fi telemetry module through a serial port, while the ground control station (GCS) computer connects to the same router over Wi-Fi or Ethernet. Once configuration and connection are complete, the GCS can communicate with multiple flight controllers over the local network, enabling monitoring and control of multiple drones.

The communication topology is shown below:

Before configuring STA mode, determine the following MicoAir-WiFi-Link parameters:

Parameter	AT Command	Description
Router Wi-Fi SSID	AT+SSID	SSID of the wireless network that the Wi-Fi telemetry module will join
Router Wi-Fi password	AT+PWD	Password of the wireless network that the Wi-Fi telemetry module will join
Module IP address	AT+MIP	Static IP address assigned to the Wi-Fi telemetry module on the LAN
Target IP address	AT+TIP	IPv4 address of the GCS computer on the LAN
Gateway address	AT+GW	IP address of the router’s default gateway
UDP port	AT+PORT	UDP port monitored by the GCS; typically 14550

AT+TIP is the parameter most commonly configured incorrectly in STA mode. It must be set to the IPv4 address assigned to the GCS computer after the computer connects to the target router.

Computer IPv4 Address #

1. Connect the GCS computer to the router.
2. Open Command Prompt in Windows.
3. Run the following command:

ipconfig

4. Locate the IPv4 Address of the active network adapter.

Example:

IPv4 Address. . . . . . . . . . . : 192.168.8.211
Default Gateway . . . . . . . . . : 192.168.8.1

Based on the example above, the network parameters can be planned as follows:

Parameter	Example Value
GCS computer IP address	192.168.8.211
Wi-Fi telemetry module IP address	192.168.8.213
Gateway IP address	192.168.8.1
UDP port	14550

AT+MIP must be in the same subnet as the GCS computer and gateway. It must not duplicate the IP address of any other device on the LAN.

After completing this step, keep the GCS computer connected to the same router. If the computer switches to another network or the router assigns it a different IP address, check the computer’s IPv4 address again and update AT+TIP on the Wi-Fi telemetry module accordingly.

Hardware Connections #

Connection for Module Configuration #

To configure the Wi-Fi telemetry module, connect it directly to the computer using a USB Type-C cable that supports data transfer.

1. Connect the Wi-Fi telemetry module to the computer using a USB Type-C cable that supports data transfer.
2. Open Windows Device Manager and verify that the corresponding COM port is available.
3. If no serial port is detected, install the CH340 driver or use a different Type-C cable that supports data transfer.

Connection for Flight Operations #

Use the supplied cable to connect the flight controller to the Wi-Fi telemetry module. This guide assumes that the module is connected to flight controller serial port 1, labeled TELEM1:

• Connect the GH1.25-4Pin end to the Wi-Fi telemetry module.
• Connect the SH1.0-4Pin end to the flight controller’s TELEM1 port.

The wiring arrangement is shown below:

Note: Always refer to the serial port mapping for the specific flight controller before configuring the corresponding firmware parameters.

Wi-Fi Module Configuration #

Testing AT Command #

1. Open a serial terminal application such as SSCOM.
2. Select the COM port assigned to the Wi-Fi telemetry module and set the baud rate to 115200.
3. Enable AddCRLF termination, or ensure that every AT command ends with \r\n.
4. Send the following command:

AT

Expected response:
OK

If there is no response, verify the following:

• The correct COM port is selected.
• The baud rate is set to 115200.
• CRLF termination is enabled.
• The Type-C cable supports data transfer.

Reading the Configuration #

Send the following command:
AT+ALL?

This command displays the module’s operating mode, Wi-Fi SSID, serial baud rate, UDP port, local IP address, target IP address, and other configuration parameters.

STA Network Parameters #

The module must be switched to STA mode using AT commands. Although the web configuration page can modify some Wi-Fi parameters, this guide uses the serial terminal throughout the initial setup to avoid mixing configuration methods.

The following example uses these network parameters:

Parameter	Example Value
Router Wi-Fi SSID	MicoAir_5G
Router Wi-Fi password	12345678
GCS computer IP address	192.168.8.211
Wi-Fi telemetry module IP address	192.168.8.213
Gateway IP address	192.168.8.1
UDP port	14550

Replace these example values with the actual parameters of your network.

Router Wi-Fi SSID:
AT+SSID=MicoAir_5G

Router Wi-Fi password:
AT+PWD=12345678

Wi-Fi telemetry module local IP address:
AT+MIP=192.168.8.213

Target IP address, which is the IP address of the GCS computer:
AT+TIP=192.168.8.211

Gateway address:
AT+GW=192.168.8.1

UDP port:
AT+PORT=14550

Telemetry UART baud rate:
AT+BAUD=115200

STA mode:
AT+MODE=1

The module automatically restarts after its operating mode is changed. If a manual restart is required after changing other parameters, send:
AT+RST

Configuration Verification #

After the module restarts, reopen the serial port and send:
AT+ALL?

Verify the following parameters:

• MODE is set to STA.
• SSID matches the target router’s Wi-Fi SSID.
• BAUD matches the flight controller serial port baud rate.
• PORT matches the UDP listening port used by the GCS.
• MIP is the local IP address assigned to the Wi-Fi telemetry module.
• TIP is the IP address of the GCS computer.
• GW is the router’s gateway IP address.

If the GCS computer connects to another network or receives a new IP address from the router, check its IPv4 address again and update AT+TIP.

Flight Controller Configuration #

Configure the flight controller serial port connected to the Wi-Fi telemetry module for MAVLink, and ensure that its baud rate matches the module’s AT+BAUD setting.

ArduPilot  Configuration #

Use MicoConfigurator to configure ArduPilot.

1. Connect the flight controller to the computer over USB or another supported connection.
2. Open MicoConfigurator and connect to the flight controller.
3. Navigate to Settings > Ports.
4. Locate the serial port connected to the Wi-Fi telemetry module.

Configure the corresponding serial port as follows:

SERIAL1_PROTOCOL = MAVLink2
SERIAL1_BAUD = 115200

For a setup with multiple drones, assign a unique vehicle system ID:

1. Select Parameters in the left sidebar and locate the SYSID parameter group.
2. Alternatively, search for SYSID_THISMAV and set it to the system ID assigned to this drone.

Each drone must have a unique SYSID_THISMAV value. For a single drone setup, the default value of 1 can normally be retained. Parameters are saved automatically; restart the flight controller if required for the new settings to take effect.

PX4 Configuration #

Use MicoConfigurator to configure PX4.

1. Connect the flight controller to the computer over USB or another supported connection.
2. Open MicoConfigurator and connect to the flight controller.
3. Navigate to Settings > Ports.

If the Wi-Fi telemetry module is connected to TELEM1, configure:

MAV_0_CONFIG = TELEM1
MAV_0_MODE = Normal
SER_TEL1_BAUD = 115200 8N1

For a setup with multiple drones, also configure:
MAV_SYS_ID

Each drone must have a unique MAV_SYS_ID value. For a single drone setup, the default value of 1 can normally be retained. Parameters are saved automatically; restart the flight controller for the new settings to take effect.

GCS Connection #

After configuring the Wi-Fi telemetry module and flight controller, open the GCS software and establish a UDP connection.

The UDP connection procedure is the same for operation with a single drone or multiple drones, and only one UDP connection is required. The GCS listens on the specified UDP port, receives data from all drones through the same UDP endpoint, and distinguishes individual drones by their unique flight controller system IDs.

Mission Planner #

1. Open Mission Planner.
2. Select UDP as the connection type.
3. Set the port to 14550.
4. Click Connect and wait for Mission Planner to detect the drone.

QGroundControl #

1. Open QGroundControl.
2. Navigate to Application Settings > Comm Links.
3. Enable automatic UDP connection, or manually add a UDP communication link.
4. Set the listening port to 14550.
5. Connect and wait for QGroundControl to detect the drone.

If the GCS receives no telemetry data, first check whether Windows Firewall is blocking UDP traffic to Mission Planner or QGroundControl.

Configuration Example for Multiple Drones #

STA mode allows multiple drones to connect through the same router. Each Wi-Fi telemetry module must have a unique local IP address, and each flight controller must have a unique system ID.

Network Plan for Multiple Drones #

The following example connects a GCS computer and three drones to the same router:

Device	IP Address / ID
Router gateway	192.168.8.1
GCS computer IP address	192.168.8.211
Drone 1 Wi-Fi telemetry module IP address	192.168.8.212
Drone 2 Wi-Fi telemetry module IP address	192.168.8.213
Drone 3 Wi-Fi telemetry module IP address	192.168.8.214
UDP port	14550

Set AT+TIP on all three Wi-Fi telemetry modules to the IP address of the GCS computer:
AT+TIP=192.168.8.211

Assign a different AT+MIP address to each Wi-Fi telemetry module.

A separate GCS connection is not required for each drone. As long as every Wi-Fi telemetry module sends to the same GCS computer through AT+TIP and the GCS is listening on the configured UDP port, telemetry from all drones will arrive through the same UDP endpoint.

Configuration Examples for Multiple Drones #

Drone 1

Wi-Fi telemetry module configuration:

AT+SSID=MicoAir_5G
AT+PWD=12345678
AT+MIP=192.168.8.212
AT+TIP=192.168.8.211
AT+GW=192.168.8.1
AT+PORT=14550
AT+BAUD=115200
AT+MODE=1

ArduPilot system ID:
SYSID_THISMAV = 1

PX4 system ID:
MAV_SYS_ID = 1

 

Drone 2

Wi-Fi telemetry module configuration:

AT+SSID=MicoAir_5G
AT+PWD=12345678
AT+MIP=192.168.8.213
AT+TIP=192.168.8.211
AT+GW=192.168.8.1
AT+PORT=14550
AT+BAUD=115200
AT+MODE=1

ArduPilot system ID:
SYSID_THISMAV = 2

PX4 system ID:
MAV_SYS_ID = 2

 

Drone 3

Wi-Fi telemetry module configuration:

AT+SSID=MicoAir_5G
AT+PWD=12345678
AT+MIP=192.168.8.214
AT+TIP=192.168.8.211
AT+GW=192.168.8.1
AT+PORT=14550
AT+BAUD=115200
AT+MODE=1

ArduPilot system ID:
SYSID_THISMAV = 3

PX4 system ID:
MAV_SYS_ID = 3

 

GCS Example for Multiple Drones

After configuring all Wi-Fi telemetry modules and assigning unique flight controller system IDs, connect the GCS over UDP as described in Section 5. If the drones use unique system IDs, the GCS will automatically detect and display all connected drones.

Example with four drones using PX4 and MicoAir-WiFi-Link:

Example with four drones using ArduPilot and MicoAir-WiFi-Link:

Operational Notes for Multiple Drones #

• Each Wi-Fi telemetry module must use a unique AT+MIP address.
• Set AT+TIP on every Wi-Fi telemetry module to the IP address of the GCS computer.
• Each flight controller must use a unique system ID.
• If the IP address of the GCS computer changes, update AT+TIP on every Wi-Fi telemetry module.
• Configure a static IP address for the GCS computer on the router to simplify ongoing operation and maintenance.
• If some drones are not detected after multiple drones connect, first check for duplicate system IDs.

Troubleshooting #

No Response to AT Commands #

• Confirm that the Type-C cable supports data transfer.
• Confirm that the correct serial port is selected.
• Confirm that the baud rate is set to 115200.
• Confirm that AddCRLF termination is enabled.

Module Cannot Connect to the Router #

• Verify that AT+SSID is correct.
• Verify that AT+PWD is correct.
• Verify that the router permits the module to connect.
• Verify that the module is operating in STA mode.

No Telemetry Data at the GCS #

• Verify that the computer’s IP address matches AT+TIP.
• Verify that AT+MIP, AT+TIP, and AT+GW are in the same subnet.
• Verify that the GCS is listening on UDP port 14550.
• Verify that Windows Firewall is not blocking the GCS application.
• Verify that the flight controller serial port is configured for MAVLink.
• Verify that the flight controller serial port baud rate matches AT+BAUD.
• Verify that the flight controller and Wi-Fi telemetry module use crossed TX/RX connections.

Parameter Changes Do Not Take Effect #

Restart the module with the following command:
AT+RST

After the restart, query the configuration again:
AT+ALL?

Confirm that the updated parameters have been saved.

Restoring Factory Defaults #

If the configuration is inconsistent or needs to be reset, restore the module to its factory defaults:
AT+RESET

After the factory reset, configure STA mode again by following this guide from the beginning.