Drehmflight Osd

This is just a general discussion post to get some feedback from people smarter than me.

So I'm kinda interested in making a drehmflight-osd which can run simultaneously on a teensy 4.0 with the fc code and create an osd for dji fpv

In just the same way that drehmflight is powerful bc dispite just being a simple pid loop, it has all the surrounding libraries already attached to immediately be integrated with receivers, mpu's, ect , my goal is to make a Osd in this same vein.

So please correct any errors in the following statements. What follows is my best understanding of how such an OSD system must function at fundamental level.

Lets say for this first example the goal is to display lipo battery voltage.

Background:

1. The teensy4.0 must be multithreading in order to have an osd and fc run simultaneously without either system stuttering. (no idea how complex of a task this is, is such a thing easily doable in the arduino ide?)

2. The flight controler sends bits of information via the Multiwi-Serial Protocol to the Dji Vtx, each bit of information has a element_screen_position and character value encoded in it.

Steps:

3. There needs to be a way for a teensy4.0 to read incoming flight pack battery voltage, perhapse through using a carefully calibrated high ohm resistor in series on an analogue pad of the teensy and the pos of the battery. Then the analogue pad reads the incoming voltage and stores it as a float value. This float is then multiplied by some coefficient to get a true voltage value, this information is stored internally on the teensy.

4. the teensy osd code must simply encode this voltage info into a MSP packet and send it to the vtx. Encoded in this packet as well are the character font and location on screen

Anyone know of any tutorials on how to setup such a msp in arduino? Are there details I'm missing about the msp process?

How hard would multi-threading / parallel computing be? Is it even possible to do that on a teensy?

Hey guys so I have been working on this drone log analysis tool for sometime now. If you are familier with flight_review which is a drone log visualization tool for px4 logs, I am making something similar.

The improvement that iam adding onto it is the automatic detection of regions of interest/anomalies in the logs and down the line classification too. It would be like you just provide your log file to it and the software will tell you what's exactly wrong in your drone or what flight metrics could be improved.

Let me know if you find this intersting. I am also looking for people who can help me sort and classify the px4 log files so hit me up if you really liked the idea!

Hello fellow Redditor’s

I wanted to ask if there any articles or YouTube videos where I can learn to make drones using raspberry pi or other microcontrollers and make them fly anonymously.

Planning on building a 2/3s toothpick. How big is the resistance difference between the two? Would it be worth the couple grams of weight saving? Should I opt for higher kv or a bigger motor?1204 8/5000kv or something like 1202.5 11000 kv for 2s? Thanks in advance

Apologies to the PC folk if the formatting is bad, I am on mobile.

I have a Tmotor Velox Cine F7(TMOTORVELOXF7V2) that I have built. I have a gimbal on my drone that allows me to move my camera up or down via a switch on my transmitter.

I had betaflight on it and was easily able to remap my LED pins to be used as a servo output. However it's not so easy on iNav. I have pulled the C and H files for my target board but I don't know what to change in order to make this work correctly without messing anything up. Any help would be greatly appreciated.

I know how to compile the files into hex for firmware flashing, I just need to know what to change to make my LED pin usable for my gimbal.

Here is my C file:

timerHardware_t timerHardware[] = {

DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S1 UP1-2 D(1, 4, 5)

DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // S2 UP1-2 D(1, 5, 5)

DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S3 UP1-2 D(1, 7, 5)

DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S4 UP1-2 D(1, 2, 5)

DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0), // S5 UP1-7 D(1, 5, 3) - clash with S2

DEF_TIM(TIM2, CH2, PB3, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 UP1-7 D(1, 6, 3)

DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 UP1-6 D(1, 0, 2) // used to be fw motor

DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 UP1-6 D(1, 3, 2) // used to be fw motor

DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 1), // LED };

I know I need to delete "DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 1), // LED" and replace one of the timers to use PA8 instead, I'm just not sure which one to change.

Here is my H file:

#pragma once

#define TARGET_BOARD_IDENTIFIER "TVF7"

#define USBD_PRODUCT_STRING "TMOTORVELOXF7V2"

#define LED0 PA14

#define LED1 PA13

#define BEEPER PC13

#define BEEPER_INVERTED

// SPI

#define USE_SPI

#define USE_SPI_DEVICE_1

#define SPI1_SCK_PIN PA5

#define SPI1_MISO_PIN PA6

#define SPI1_MOSI_PIN PA7

#define USE_SPI_DEVICE_2

#define SPI2_SCK_PIN PB13

#define SPI2_MISO_PIN PB14

#define SPI2_MOSI_PIN PB15

#define USE_SPI_DEVICE_3

#define SPI3_SCK_PIN PC10

#define SPI3_MISO_PIN PC11

#define SPI3_MOSI_PIN PC12

//GYRO

#define USE_IMU_ICM42605

#define IMU_ICM42605_ALIGN CW270_DEG

#define ICM42605_CS_PIN PB2

#define ICM42605_SPI_BUS BUS_SPI1

// *************** I2C /Baro/Mag *********************

#define USE_I2C

#define USE_I2C_DEVICE_1

#define I2C1_SCL PB8

#define I2C1_SDA PB9

#define USE_BARO

#define BARO_I2C_BUS BUS_I2C1

#define USE_BARO_ALL

#define USE_MAG

#define MAG_I2C_BUS BUS_I2C1

#define USE_MAG_ALL

#define TEMPERATURE_I2C_BUS BUS_I2C1

#define PITOT_I2C_BUS BUS_I2C1

#define RANGEFINDER_I2C_BUS BUS_I2C1

// *************** SPI2 OSD ***********************

#define USE_MAX7456

#define MAX7456_SPI_BUS BUS_SPI2

#define MAX7456_CS_PIN PB12

// *************** SPI3 SD BLACKBOX*******************

#define USE_FLASHFS

#define USE_FLASH_M25P16

#define M25P16_SPI_BUS BUS_SPI3

#define M25P16_CS_PIN PD2

#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT

// *************** UART *****************************

#define USE_VCP

#define USE_UART1

#define UART1_TX_PIN PA9

#define UART1_RX_PIN PA10

#define USE_UART2

#define UART2_TX_PIN PA2

#define UART2_RX_PIN PA3

#define USE_UART3

#define UART3_TX_PIN PB10

#define UART3_RX_PIN PB11

#define USE_UART4

#define UART4_TX_PIN PA0

#define UART4_RX_PIN PA1

#define USE_UART6

#define UART6_TX_PIN PC6

#define UART6_RX_PIN PC7

#define SERIAL_PORT_COUNT 6

#define DEFAULT_RX_TYPE RX_TYPE_SERIAL

#define SERIALRX_PROVIDER SERIALRX_SBUS

#define SERIALRX_UART SERIAL_PORT_USART1

// *************** ADC *****************************

#define USE_ADC

#define ADC_INSTANCE ADC1

#define ADC1_DMA_STREAM DMA2_Stream0

#define ADC_CHANNEL_1_PIN PC2

#define ADC_CHANNEL_2_PIN PC1

#define ADC_CHANNEL_3_PIN PC0

#define VBAT_ADC_CHANNEL ADC_CHN_1

#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2

#define RSSI_ADC_CHANNEL ADC_CHN_3

// *************** LEDSTRIP ************************

#define USE_LED_STRIP

#define WS2811_PIN PA8

#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)

#define CURRENT_METER_SCALE 250

#define USE_SERIAL_4WAY_BLHELI_INTERFACE

#define TARGET_IO_PORTA 0xffff

#define TARGET_IO_PORTB 0xffff

#define TARGET_IO_PORTC 0xffff

#define TARGET_IO_PORTD 0xffff

#define MAX_PWM_OUTPUT_PORTS 8

#define USE_DSHOT

#define USE_SERIALSHOT

#define USE_DSHOT_DMAR

#define USE_ESC_SENSOR

On this one I know I need to delete "// *************** LEDSTRIP ************************
#define USE_LED_STRIP #define WS2811_PIN PA8" entirely.

Any help would be greatly appreciated!

Thank you!

Hey guys, i need help with my build. It isnt really a drone but its fpv related. I am building fpv rc car, I have an analog system and goggles with head tracker. The car will run on elrs for better range, but here comes the problem, rc car radios I have doesnt support elrs and head tracker connection, so I wanted to use my elrs tx16s as a master radio and connect head tracker and an car radio with ppm output to it. But tx16s has only one trainer port, so I was wandering if can just connect them with adapter that will convert two 3.5mm jack to one that will go to the master radio. The car radio outputs on channel 1 and 2 and the head tracker on channel 5 and 6. Can this even work? I would apritiate any help or advices, THANKS! I will also include a scheme for better undertanding.

Hello people,

I need a drone platform primarily intended for agricultural mapping, capable of carrying a gimbal + camera with the longest possible flight time (under optimal weather conditions, of course).

Currently, I'm considering building such a drone. The frame would be around 500-600mm with legs, with the main flight controller being PX4 compatible, as most agricultural drones are based on this framework. Some of the parts available in my market at reasonable prices include 4S batteries ranging from 5000-6000 mAh. Essentially, some of my requirements and limitations are as follows:

• 500-600mm frame body (holybro x500 or x600 for example)
• 3S-4S 5000-6000 mAh batteries (the maximum I can find is 8000mAh, but availability may vary)
• Payload capacity: maximum 800g (cameras weigh around 200-400g + the same for the gimbal)
• Flight time: 20+ minutes

What I don't know is what motor dimensions and propellers you would recommend. Do you have any similar builds that meet my requirements?

I assume it's easiest to buy such a drone, but then I'd have to deal with documentation for import and encounter a thousand bureaucratic problems, so it's easier for me to build one with ordered parts. Its primary purpose is learning to control, mapping plots, recording plants, and using those recordings for analysis crops health.

As for my experience, I've built a few small drones from kits, so I have basic knowledge, but I've never dealt with calculations, especially for such large drones.

Anyone here in the ATL area know of any good drone part suppliers? I'm looking to build my first drone and would much rather buy in person and be able to ask questions than buy online and cross my fingers. Any information is very much appreciated!

I am making an autonomous drone for my senior project and was wondering if it is better to have a companion computer or transmit the video to a ground station where the video will be processed using OpenCV. I am not concerned with the drone making decisions in real time. The purpose will be for the drone to patrol a designated area where it will stream data allowing the observer to view and identify moving objects. The flight controller will be based on a STM32F7 or H7. If there are suggestions for other MCU's please let me know as it will affect the other member which is designing the flight controller.

Right now much of the drone is DIY unless we run into issues or time constraints, and we have overlapping skills to assist each other, but I believe the difficult part may come when implementing the flight controller and image processing as we do not have much experience in designing those systems as a team.

Hey,

Im just starting with this hobby. I already did some research on JBs Channel on YouTube.

I want to build a 5“ freestyle copter with analog camera to start.

These are the parts I picked

2x Tattu R-Line 4.0 4s 1300mAh 130C Lipo
1x TBS Source One 5" V5 FPV FreeStyle Frame.
4x iFlight Xing-E Pro 2207 2450KV 4S NextGen Motor
1x SpeedyBee F7 V3 Wi-Fi 50A BL32 Stack.
1x HQProp ETHiX P4 5.1X4 Candy Cane FPV!Propeller
1x HQProp ETHiX S4 5X3.7X3 Lemon Lime
1x HQProp ETHiX S3 5X3.1X3 Watermelon
1x HGLRC M100-5883 GPS inkl Kompass- FPV Betaflight iNav.
1x TBS Unify Pro32 HV MMCX
1x Runcam Phoenix V2 SP 1500TVL Freestyle FPV Cam.
1x Foxeer Lollipop 4 Antennen Set RHCP SMA
1x RadioMaster RP4TD ELRS LBT True Diversity Receiver. \

I also need some googles and a receiver can you recommend me some?

Thx

I have a few insect nests up high in the tree in my back yard. They are too high for me to spray, but a drone with a squirt gun would work great! Any suggestions?

HELLO! Me and my buddy are trying to build a drone from scratch with a raspberry pi. Any reccomendations for how to get started, and what motors we should use. Will be about 10"x8". Dont hold back on price, this is school funded!

Thanks brothas

im using a MPU6050 to stabilize a drone, idc the fight, i just want it to not move on roll and pitch this is the code and ill apreciate any help "

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
#include <ArduPID.h>

Adafruit_MPU6050 mpu;

ArduPID controlRoll;
ArduPID controlPitch;

double rollSP = 0;
double pitchSP = 0;

double rollInput;
double pitchInput;

double rollOutput;
double pitchOutput;

// Initially set low PID values for smoother control
double rollP = 0.1;
double pitchP = 0.1;

double rollI = 0.0;
double pitchI = 0.0;

double rollD = 0.1;
double pitchD = 0.1;

const int esc1Pin = 17;
const int esc2Pin = 5;
const int esc3Pin = 18;
const int esc4Pin = 19;
int valanMax = 950;
int valanMin = 450;

void setup(void) {
  Serial.begin(115200);
  while (!Serial) {
    delay(10); // Wait for serial monitor to open
  }

  // Attempt communication with MPU6050
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }

  // Initial motor spin at slightly above minimum (adjust if needed)
  analogWrite(esc1Pin, valanMin + 10);
  analogWrite(esc2Pin, valanMax - (valanMin + 10));
  analogWrite(esc3Pin, valanMin + 10);
  analogWrite(esc4Pin, valanMax - (valanMin + 10));

  mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  Serial.println("");
  delay(100);

  pinMode(esc1Pin, OUTPUT);
  pinMode(esc2Pin, OUTPUT);
  pinMode(esc3Pin, OUTPUT);
  pinMode(esc4Pin, OUTPUT);

  controlRoll.begin(&rollInput,&rollOutput,&rollSP,rollP,rollI,rollD);
  controlPitch.begin(&pitchInput,&pitchOutput,&pitchSP,pitchP,pitchI,pitchD);


}

void loop() {
  // Base speed for 50% throttle with slight adjustment (optional)
  const double baseSpeed = valanMin + (valanMax - valanMin) * 0.5 + 10;

  // Read sensor data
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  // Calculate roll and pitch angles from accelerometer data
  int gradosRoll = atan2(a.acceleration.y, a.acceleration.z) * RAD_TO_DEG;
  int gradosPitch = atan2(-a.acceleration.x, a.acceleration.z) * RAD_TO_DEG;

  // Optional gyro drift compensation (adjust values as needed)
  g.gyro.x = g.gyro.x + 0.01;
  g.gyro.y = g.gyro.y + 0.085;

  // Set roll and pitch inputs for PID controller
  rollInput = gradosRoll;
  pitchInput = gradosPitch;

  // Perform PID calculations to determine motor adjustments
  controlRoll.compute();
  controlPitch.compute();

  // Calculate motor signal with base speed (adjusted for deadzone)
  int motorSignal = map(rollOutput + pitchOutput + baseSpeed, -valanMax, valanMax, valanMin + 10, valanMax);

  // Constrain motor signal within valid ESC range
  motorSignal = constrain(motorSignal, valanMin + 10, valanMax);

  // Set motor signals for each ESC with direction control
  analogWrite(esc1Pin, motorSignal);
  analogWrite(esc2Pin, valanMax - motorSignal);
  analogWrite(esc3Pin, motorSignal);
  analogWrite(esc4Pin, valanMax - motorSignal);

  // Uncomment for debugging (optional)
  Serial.print("Grados Roll:");
  Serial.print(gradosRoll);
  Serial.print(" Grados Pitch:");
  Serial.print(gradosPitch);
  Serial.print(" senal motor:");
  Serial.println(motorSignal);
  
  delay(100);
}
"

Hello,

I have finished my first drone build, making all possible mistakes but eventually successful. Now I want to move to autonomous drones, but beforehand I need to understand design/protocols/etc. from software/firmware perspective. For now I just completed the build following tutorial and betaflight docs, without deep understanding.

I am a software engineer, so it would make sense to get full comprehension to be able to tweak open source software/firmware instead of blindly following someone's builds.

ESCs

This component is quite clear, each motor needs a precise and frequent phase change and it's not possible to implement this by firmware on flight controller. So each motor needs a separate circuit which translates PWM from FC to the phase change. Good video about it: https://www.youtube.com/watch?v=uOQk8SJso6Q

It's possible to make your own ESC but it will be more expensive, cumbersome and time-consuming, so makes sense only in educational purposes.

Flight Controller

I am trying to understand what is the difference between various FCs, is it only amount and quality of HW or there is something else? Obviously I am not talking about DJI with proprietory FW.

Q1: Is there any logic in Flight Controller besides firmware? Or it's just a board with MCU, sensors and input/outputs for additional hardware? And almost all of DIY drones has the same flight control code (from betaflight)?

Flight Controller vs Flight Computer

In multiple tutorials on building autonomous drone, there are at least 2 chips: flight controller and flight computer. It makes a build quite big, I see that at least 7 inch frame is needed.

So, I have a few questions about merging them

Q2: Can I use RPi with the same sensors as a flight controller? I understand that it's probably a bad idea (it will need a lot of custom code, CPU can be overloaded and fail on drone stabilization, etc.). But is it even possible in theory?

Q3: Can flight controller be a flight computer as well? E.g. I solder additional device/sensor to free UART pads on SpeedyBee and add a feature to Betaflight FW

For the first autonomous drone I will still use Flight Controller + Flight Computer

Q4: Why Pixhawk flight controller is recommended in all tutorials? What is the main difference from usual FCs for $50 like SpeedyBee (I see that ArduPilot is compatible with SpeedyBee)? What will be challenges to make an autonomous drone using SpeedyBee?

Communications protocols

As I understand, Mavlink is a good first choice for communicating with Flight Controller (with installed ArduCopter FW)

I see that often it's designed:

computer - [SSH via WiFi] - Flight Computer - [Mavlink via UART] - Flight Controller (e.g. https://www.youtube.com/watch?v=kB9YyG2V-nA )

Q5: can computer-Flight Controller be directly connected with MavLink (e.g. via FC bluetooth)?

Toying around with the idea of using magnetometry navigation as a dead reckoning for GPS outages while flying. Has anyone had a go at this or even have any basic experience? DMs open

Edit: ah typo

So i've been researching quadcopter control for a while now and I'm really struggling to wrap my head around *how* exactly stable flight is possible?

In my research I've found that the primary flight sensor in most drones is just a regular IMU, and the most common control algorithm is a basic PID controller, and supposedly stable, unassisted flight should be possible with just these.

Tracking drone orientation

In order for the drone to hover, it should be horizontal. If the drone starts tilting, it's going to start moving sideways, and at some point it just falls out of the sky.

My confusion starts with the IMU sensor. The IMU gives you angular acceleration. You could integrate to track angular velocity and angle, but I don't see how you could completely eliminate drift, which would make odometry unusable on longer flights.

I also don't see any other ways of calculating orientation while in flight, such as a magnetometer + gravity vector method which works on land robots, but not in flight because the only measurable force acting on the drone in the air (ignoring air resistance) is the thrust from the engines, which is always in the same direction w.r.t the drone frame.

PID controller

Now the point of the PID controller is to adjust a value (the throttle) to maintain a measurement at a certain set point.

I've tried various simulations of this in 2D, and the only way I can get the PID controller to keep the drone stable is if I input the drone angle as the measurement, and set point to 0. However, as I said earlier I don't know how to get the drone angle in the real world, so the only viable input for the PID controller is the angular acceleration from the IMU.

I understand that the PID controller should control the engine throttles to maintain angular accleration as close to the set point as possible, however once again I dont understand how the controller can account for drift.

Motors have slightly different properties, so a throttle input to two different motors will cause a slightly different thrust. I've done simulations of this in 2D, and while the PID controller can adjust slightly higher throttle to the weaker engine, by the time the IMU has detected the angle tilting, and the PID controller has calculated a correction, and the motors have received the new throttle values, the tilt has already applied to the drone. And small tilts will pile up, until eventually the drone will be a few degrees tilted, at which point it doesn't really matter anymore if the angular acceleration of the drone is kept at 0, it's already moving sideways.

I started on brushed micros and never really outgrew them. I've flown far more powerful quads in the years, but the uncomplicated and extremely cheap nature of brushed builds has kept them quite endearing to me.

I have a large amount of motors leftover from my starting days, because all the quad communities had drilled it into my head that motors were consumables and that I'd go through them like popcorn, so every time I found a good offer I'd buy a bunch.

Turns out they don't really die ever, unless you crash them really hard, so I used like a tenth of the motors I had in new builds, have been flying them ever since and the extra motors just sat in a box for years.

So, of course, I've been acquiring more motors. As you do.

I also don't have any RC planes, but that didn't stop me from buying a twelve-pack of 9G servos on aliexpress, because they were hysterically cheap. Upon disassembling one, I found inside it the cutest little iron-core motor I've ever seen.

Here it is compared to a 6mm whoop motor and a 7mm motor out of some geared toy quad.

And here with a 8mm motor of the type I use on most of my acro builds and with a 55mm prop, which fits on its shaft quite firmly.

Now, obviously what I immediately thought of was to print a modified micro frame to fit that motor type, swap in the electronics from one of my existing builds, disassemble three more servos and put together a quad. However, that requires time and effort and PETG filament, and before I embark in this quest I'd like to know if anyone's ever tried to use those motors outside of the servos they come in. Honestly I've no idea if they even have anything like the necessary power for producing quad-lifting thrust.

Maybe they're too tiny for acro builds and I could use them on whoops?

Then again, iron-core motors tend to be more powerful than coreless motors of the same size, so maaaaybe?

All I know is that they're cute as buttons, they are. Who's a cute little motor, aaawwwwwww <3

i have built a drone and it doesn't fly like a drone. When I arm it, the motors go full throttle and it tries to stabilize itself even though it is on plain level. What am i doing wrong

I've recently put together some parts to order off of aliexpress to build my first fpv drone. I don't want to spend lots since I've never built or flown a drone and Im not even sure if I'll end up enjoying it.

The only issue I have is that I can't really find a suitable battery to order from anywhere. How much mah should a drone battery be anyway? I know I probably shouldn't just get any cheap lipo battery.

Hi guys! I would like to try my hand at this, but I'm having trouble figuring out how to start. I have a 3d printer, but I am very new to designing my own parts. I'm sure I can find stl files online for a simple frame, but what kind of flight controller, motors etc would be good for building something small, cheap and functional? Would I be better off buying a kit or something first to get a basic understanding of how everything works? Trying to keep costs as low as possible for my first build. Thanks!

I'm kinda new in these kind of projects. Where should I buy the supplies for making my own drone? I want them to have good enough quality while being as cheap as possible (I'm in college)

I just finished to build my first drone but I can't make the motors spin. when I click on the arm button on mission planner I don't get any errors but the motors don't spin. I have some scratches on my frame that also does PDB but I don't think that they are big enough to damage the circuit. though I have a problem: I can't calibrate the esc's, everytime I launch the calibration, everything goes well, the leds on my pixhawk1 blink blue green,red but they go on forever. I can post pictures if you want but I don't know of what. Any help will be appreciated.

Is it a good idea (economically) to use parts from mavic mini se to make a drone?

I have an old quad kk2.1 with the HK-T4A radio. Ordered the SpeedyBee F405 V3 Controller and was going to get the TX12 Edge radio. will this all work?

I am trying to build my own controller on an Arduino/Rasberry Pi that will send CRSF messages through a TBS Tracer Nano TX. Anyone know of any previous work that has done this, or any pinouts/serial ports on the TX?  I know you can connect the TX to a computer via USB-C - is there some protocol there that I could use? Thanks!