FLARM ATOM UAV User manual

ATOM UAV MANUAL
Date:
2021
-
09
-
30
Version: 0.8
Page: 1 of 20
FLARM Technology
Ltd
Hinterbergstrasse 15
CH-6330 Cham
Document Number:
FTD-088
Document status
Published status
Confidentiality status
☐ Draft
☒ Released
☐ Canceled
☐ Internal
☐ NDA
☒ Public
Version control
Ver.
Date
Summary of changes
0.1 2020-11-09 Initial version
0.2 2021-09-19 Hardware Rev.2.0 images, web maintenance, oem variant
0.3 2021-05-31 Added JSON protocol, forced flight state and protocol
configuration.
0.4 2021-07-08 Added radio diversity configuration
0.5 2021-07-13 Added Conformity Declarations
0.6 2021-07-26 Added Packing List
0.7 2021-08-31 Updated Conformity Declarations
0.8 2021-09-30 Amend Conformity Declaration
Scope and summary
This document explain
s
how to get started with the
Atom UAV (product code
FLATMUAV)

ATOM UAV MANUAL
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Table of contents
1 Introduction ...................................................................................... 3
1.1.1 Specs ...................................................................... 4
1.1.2 Description ............................................................... 4
1.1.3 RF Connectors ........................................................... 4
1.1.4 Factory Reset ............................................................ 5
1.1.5 USB Connector .......................................................... 5
1.1.6 JST GH .................................................................... 5
1.1.7 JST-GH Pinout ........................................................... 5
1.1.8 TFM Connector .......................................................... 5
1.1.9 TFM-104-02-L-D Pinout .............................................. 5
1.1.10 Status LEDs .............................................................. 6
2 Interfaces .......................................................................................... 7
2.1 MAVLink Interface.................................................................... 7
2.1.1 Integration with PX4 .................................................. 7
2.1.2 Using Navigation Solution from PX4 .............................. 8
2.1.3 Compatible GCS Software ........................................... 8
2.2 JSON ..................................................................................... 8
2.2.1 Examples of unsolicited JSON messages ........................ 9
2.2.2 Forced flight state ...................................................... 9
3 Maintainance via Web Interface ...................................................... 10
3.1 Updating the Firmware ............................................................ 10
3.2 Port Configuration ................................................................... 10
3.3 Enable/ Disable EXG Licence ..................................................... 11
3.4 Installing the EXG Licence ........................................................ 12
3.5 Radio diversity ....................................................................... 13
4 Packing List ..................................................................................... 16
5 Current Limitations .......................................................................... 17
6 Conformity Declarations .................................................................. 18
6.1 FCC Compliance Statement ...................................................... 18
6.2 ISED Compliance Statement ..................................................... 19
6.3 Supplier's Declaration of Conformity .......................................... 20

ATOM UAV MANUAL
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Document Number:
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1 Introduction
Atom UAV is a FLARM developed specifically for drones. Leveraging the Atom SoC
platform, it is a miniature, feature-packed device that can be used standalone
(“hook-on”, retrofit) or integrated into own designs.
Highlights:
Atom System-on-Chip platform
Full, worldwide FLARM interoperability
V2X communication payloads
Cortex-M4F processing core
Integrated Wi-Fi and Bluetooth module
72-channel u-blox GNSS engine
Webapp for configuration and diagnostics
1090MHz receiver for ADS-B and rebroadcast (TIS-B/ADS-R)
Sensor for pressure altitude
Consolidated, unified traffic stream
Direct broadcast remote ID, compliant with ASTM F3411-19, EC 2019/945, EC
2020/1058
Atom UAV is available in two variants:
For embedded use with a board to board data connector
For standalone use in an enclosure with a JST data connector and an integrated
Wi-Fi antenna
This documents describes the functionality of the device at the time of writing. As
more features will be added and other functionality will be simplified, the
description thereof will certainly change. Be sure to check for updates to this
manual as new firmware is released.

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1.1.1 Specs
Dimensions: 57x36x10 mm (50x36x8 mm without connectors)
Mounting: 4xM3 holes, 30.5mm grid
Platform: FLARM Atom System-on-Chip (SoC)
Navigation: u-blox 8th generation multi-GNSS receiver
Storage: 32 MB NOR FLASH, microSD card slot
Connectors: MCX or u.FL (FLARM radio)
MCX or u.FL (ADS-B Receiver)
MCX or u.FL (GNSS)
u.FL (Wi-Fi, optional)
USB-C (power, virtual serial)
JST GH 6-pin or TFM 8-pin B2B
(power, UART)
Protocols: JSON, MAVLink, GDL90
UI: 4 status bicolour LED
Power supply: 5-28 VDC on JST GH
5 VDC on USB
Power consumption: 200 mW typical
1.1.2 Description
The Atom UAV is equipped with two microcontrollers and thus needs two firmwares
to operate. The Atom SoC runs the FLARM radio protocol. The Espressif-based
periphery processor runs FLARM Hub and provides connectivity via WiFi, USB and
the JST/TFM connector.
1.1.3 RF Connectors
There are three MCX connectors, documented as GNSS, ADSB and FLARM on the
PCB, next to the connectors. The Flarm RF antenna must be pointed vertically
(perpendicular to sea level) in the final installation.

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1.1.4 Factory Reset
A factory reset can be triggered by holding the button pressed while powering up
the device (hold for at least 1s). This will restore all settings to factory default.
1.1.5 USB Connector
The board comprises an CP2102 chip for converting serial data to USB. The Virtual
COM Port (VCP) drivers1 need to be installed on the host computer to use this
feature. In Windows, use the ‘Device Manager’2 to see what COM-port is used.
The unit may be powered through the USB connector. Due to vibration, this is
however not recommended in flight in any type of aircraft.
1.1.6 JST GH
The GH connector from JST3 is used on the Atom UAV standalone variant over the
DF-13 for its improved mechanical properties and ease of handling. It exposes a
3.3 V UART and may be used to supply power. The pinout is identical to what is
used in Pixhawk-based flight controllers:
1.1.7 JST-GH Pinout
Pin
Function
Function Alt
1
Vin 5
–
28 V
2
TXD UART
(Out)
3
RXD UART
(In)
4
CANbus TX
(Out)
GPIO
5
CANbus RX
(In)
GPIO
6
GND
1.1.8 TFM Connector
The TFM-104-02 is a board-to-board connector used on the OEM variant instead
of the JST connector.
1.1.9 TFM-104-02-L-D Pinout
Pin
Function
Function Alt
1
Vin 5
–
28 V
2
TXD UART
(Out)
3
DO NOT CONNECT
External ADS
-
B TXD (Out)
4
RXD UART
(In)
5
DO NOT CONNECT
External ADS
-
B RXD (In)
6
CANbus TX
(Out)
GPIO
1 Download from: https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers
2 In Windows, press the “Windows” key and X together, then M
3 https://jst.de/product-family/show/89/gh

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7
GND
8
CANbus RX
(In)
GPIO
When connecting to a Pixhawk or similar flight controller, the
RX and TX lines must be crossed, i.e. TX of the flight controller
must be connected to RX of the
Atom UAV
,
etc.
The
JST GH receptacle
is
surface
-
mounted to the board, thus
the mechanical stability is limited. When pushing in the
connector, secure the receptacle firmly, e.g. by putting a
thumb on it. Do not put force on the solder connections!
1.1.10 Status LEDs
The LEDs are numbered from LED1 to LED4 on the PCB.
LED1: GNSS reception
LED2: Flarm transmitting
LED3: Flarm receiving
LED4: Power

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2 Interfaces
The Atom UAV can provide traffic information on both the USB connector and
JST/TFM connector and provides different protocols.
Please note that currently the external GNSS source is activated by enabling the
EXG license. In order to use the internal GNSS source, the EXG license needs to
be disabled. A description on how this is done is provided in Sections 3.3 and 3.4
of this document. In future releases, this will be simplified.
2.1 MAVLink Interface
MAVLink4 is a protocol used by many popular flight control systems for drones,
e.g. PX4, ArduPilot and more. MAVLink connectivity is available on the JST GH
UART connector only, if enabled in the HUB firmware. The messages HEARTBEAT
and ADSB_VEHICLE are published to output traffic information. Baud rate is set to
115200 (8N1).
The system ID (sysid) is adapted from the MAVLink master (usually the autopilot).
The compid is fixed to MAV_COMP_ID_FLARM (160).
2.1.1 Integration with PX4
Wire up the JST/TFM MAVLink connector to the TELEM2 port on the pixhawk (RX
and TX lines need to be crossed).
Configure the following parameters with a Ground control software (Tested with
QGroundControl):
MAV_1_CONFIG: TELEM 2
MAV_1_FORWARD: 1
MAV_1_MODE: OSD
SER_TEL2_BAUD: 115200 8N1
Atom UAV will consume HEARTBEAT messages. The MAV mode “MAV_1_MODE:
OSD” also provides SYSTEM_TIME and GPS_RAW_INT messages, needed for
2.1.2, while sending minimal other messages.
Atom UAV will emit ADSB_VEHICLE messages for each received target from either
FLARM or ADS-B.
The interface functionality has been verified on PX4 v1.11.1.
4 https://mavlink.io/en/

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With “MAV_1_FORWARD: 1”, Atom UAVs Heartbeat will be forwarded to the
Ground Control Station and can be seen in its MAVlink Inspector with the
component id 160.
2.1.2 Using Navigation Solution from PX4
Instead of using the integrated GNSS module for positioning, Atom UAV can use
the navigation solution from PX4. This requires installing an EXG license on Atom
(see Sections 3.2 and 3.4). If EXG is installed, Atom uses the Navigation solution
from Mavlink instead of that from the own GNSS module. For this, it consumes the
GPS_RAW_INT and SYSTEM_TIME messages and issues the TIMESYNC message
for time synchronization. Because the Flarm RF protocol is very time-sensitive, the
provided mavlink time needs to be accurate. To reduce jitter, a Mavlink mode like
OSD that emits SYSTEM_TIME and GPS_RAW_INT, but as few as possible other
messages should be used. A static time offset will be configurable to compensate
for systematic latency.The methodology will be described in detail once available.
2.1.3 Compatible GCS Software
GCS software which supports display of ADSB_VEHICLE packets:
QGroundControl (verified on v4.1.1)
Other GCS may offer support, too.
2.2 JSON
A JSON message stream providing a user friendly to interface with Atom UAV is
available on the JST port. A detailed interface description can be found in document
FTD-092.
The protocol sends out unsolicited heartbeat and traffic information. Furthermore,
currently a simple JSON command is used to encapusalte NMEA configuration
sentences to enforce the flight state.

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2.2.1 Examples of unsolicited JSON messages
{"heartbeat":{"protocol":{"version":1},"system":{"id":"FLAFUS10W-
000051"}}}\r\n
{"navigation":{"pos":{"lat":47.18686,"lon":8.477258,"alt":482,"baro":352},"
mov":{"speed":0.01,"gnd":true},"time":1622118506}}\r\n
{"traffic":{"id":{"flarm":14622722},"src":{"flarm":{}},"type":1,"pos":{"lat
":47.1868486,"lon":8.4772844,"alt":488},"mov":{"gnd":true,"climb":-
0.1},"time":1622118506}}\r\n
{"traffic":{"id":{"flarm":14622761},"src":{"flarm":{}},"type":1,"pos":{"lat
":47.1867496,"lon":8.4766621,"alt":497},"mov":{"gnd":true,"climb":-
0.1},"time":1622118506}}\r\n
2.2.2 Forced flight state
The flight state is automatically determined from the horizontal and vertical speed.
When the speed is too low to be considered flying, for example in stationary flight,
it is possible to issue a command on the JST port to force the flight state.
The syntax is as following:
{"bridge":{"flarm":"$pflac,s,ffs,<forced_flight_state>"}}\r\n
<forced_flight_state> can take the following values:
Value
Meaning
0 Invalidate any force flight state, resume normal operation.
1 Forces the device to be on the ground. Expires after 20 seconds.
2 Forces the device to be in flight. Expires after 20 seconds.
A forced flight state expires after 20 seconds, so it must be repeatedly applied to
maintain it.
An answer to the command is inserted into the JSON message stream. The syntax
is as following:
{"bridge":{"flarm":"$PFLAC,A,FFS,<forced_flight_state>*XY"}}\r\n
More details can be found in FTD-014.
The configuration method is described in the next section.
Please note that the syntax of the command is likely to change in the future and
should be considered as an experimental feature.

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3 Maintainance via Web Interface
Most configuration can be done via the HUB web interface. First connect to the Wifi
Hotspot with the name like FLATMUAVW-xxxxxx (.e. FLATMUAVW-000042 when
the serial number is 42) and the given password. The default password is
“password”. Please make sure to change when configuring the device.
On the OEM variant with a U.FL connector instead of an PCB antenna, a WiFi
antenna needs to be connected. If not, the range might be insufficient for proper
operation of the Web Interface.
Open the address http://10.10.10.10 in a browser of the device that is connected
to the Hotspot. The Web Interface should now load. On the Status page, the
connectivity, system information and GNSS fix are shown.
3.1 Updating the Firmware
On the navigation bar of the page, go to “Maintenance”, “Firmware Update”. To
update the Atom with a new PowerFLARM Firmware, a .fw file is needed. To update
FLARM HUB, a .bin file is needed.
3.2 Port Configuration
The protocol and baudrate on the JST port can be configured on the Web Interface
in “Configuration”, “FLARM”, “Data Port”.

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Please note that currently, the default on both output ports is the MAVlink protocol.
3.3 Enable/ Disable EXG Licence
The selection of either an external or internal GNSS source is done through the
EXG license. If the EXG license is enabled, it forces the device to use an external
source provided through MAVlink. Otherwise the internal GNSS receiver is used.
An active GNSS antenna needs to be connected to the device for proper operation
of the device.
If the device has the EXG licence installed, it can be enabled and disabled by
renaming the licence file on Atom. To do this, go to “Tools”, “Data Port” on the
navigation bar of the page and click “Connect”. If there is a continuous output in
the text field, disable it by typing “$pflac,s,nmeaout,0” in the input text field below
and clicking “Send”. The text output can be re-enabled by typing
“$pflac,s,nmeaout,91” and clicking “Send”.

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The license is disabled by sending “$file,mv,lic-EXG.bin,lic-EXG.tmp”. It can be
enabled again by sending “$file,mv,lic-EXG.tmp,lic-EXG.bin”. In the output field, a
response should be listed. The files can be listed with “$file,ls”, but not all files
may be shown if there are to many.
3.4 Installing the EXG Licence
To install the EXG licence, if not already, the windows command line has to be
used while connected to the Wifi Hotspot.
If the licence is in the user home directory with the name “EXG.lic”, type the
following in the command line:
curl -X PUT --data-binary "@EXG.lic" http://10.10.10.10/api/flarm/lics

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3.5 Radio diversity
Atom UAV can only be connected to one antenna. However, multiple antennas
might sometimes be required to ensure sufficient radio coverage. With Atom UAV,
it is possible to use two devices to provide this radio diversity. Both devices will
emit the same ID (and thus be seens as one aircraft by other receivers) and ignore
each other.
When using multiple devices, one will be the primary radio and the other one the
secondary radio. The secondary radio, once configured, will emit the ID of the
primary device.
This can be configured on the Web Interface under “Configuration”, “FLARM”,
“Radio Diversity”.
To use the device standalone, that is not as part of a primary/secondary setup,
choose the “No diversity” option. This is the default.
Both the primary and secondary device need to be configured. The primary device
is to be configured as “Primary”. This is important, otherwise the secondary device
will NOT be ignored, which will lead the primary device to switch its ID to avoid
duplicate IDs, resulting in multiple targets for other aircraft.
The secondary device need to be configured as “Secondary” and to have the
reference to the primary device set, to allow emitting the correct ID. This reference
is the serial number of the primary device, as can be found on the sticker on the
device or in the Web Interface, on the “Status” page, under “System”, “Device ID”.
Make sure not to use the “Radio ID”. For instance, for the device “FLATMUAWW-
000042”, the serial number to use is “000042” or simply “42”.

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How to find the serial number of the primary device

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Setting the radio diversity role, here of the secondary device

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4 Packing List
There are two variants available for Atom UAV: standalone and OEM. The
standalone variant is complete with a plastic enclosure, and comes with all the
antennas and cables required to use the product right away. The OEM variant is
only shipped with a fully tested and certified board that can be integrated in a
more complex system.
The Atom UAV standalone is shipped with the following items:
Atom UAV device
2x FLARM/ADSB antenna
1x GNSS antenna
1x JST cable ready to use in MAVlink-based system
1x USB-C cable
The Atom UAV OEM is shipped with the board module. The following components
are recommended for system integration:
FLARM/ADSB antenna: JIAXING BEYONDOOR ELECTORNICS CO.,LTD BY-
868-915-PCB(62X15) with MCX connector (2x)
GNSS antenna: u-blox ANN-MS with MCX connector
WiFi antenna: Inventek W24P-U with U.FL connector
JST cable: any JST-GH 6 crossover cable (with RX/TX pin 2/3 crossed) is
suitable

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5 Current Limitations
A simple configuration method of the GNSS source not available yet. Use
the EXG licence instead to switch between internal and Mavlink GNSS
source.
With MAVlink GNSS source selected, no ADSB_VEHICLE messages are
generated for received targets. They are shown however on the Traffic
Monitor page in the Web Interface. With internal GNSS source, all received
traffic output is generated as ADSB_VEHICLE message.
With MAVlink GNSS source selected, internal communication of GNSS might
not be in sync or the GNSS time might not be accurate enough. This can
can cause the receive and transmit LEDs turning off intermittently.
The time offset of the Mavlink GNSS source due to communication latencies
can not be measured and configured yet. This may result in package loss in
the FLARM radio.
Configuration of baudrates and inflight speed threshold not possible in Web
Interface.
Mavlink connection and time synchronization state not shown in Web
Interface.

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6 Conformity Declarations
6.1 FCC Compliance Statement
Contains FCC ID: 2AC7Z-ESP32WROOM32E
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.
CAUTION: The manufacturer is not responsible for any changes or modifications
not expressly approved by the party responsible for compliance. Such
modifications could void the user’s authority to operate the equipment.
NOTE: This equipment has been tested and found to comply with the limits for a
Class B digital device, pursuant to part 15 of the FCC Rules. These limits are
designed to provide reasonable protection against harmful interference in a
residential installation. This equipment generates, uses, and can radiate radio
frequency energy, and if not installed and used in accordance with the instructions,
may cause harmful interference to radio communications. However, there is no
guarantee that interference will not occur in a particular installation. If this
equipment does cause harmful interference to radio or television reception, which
can be determined by turning the equipment off and on, the user is encouraged to
try to correct the interference by one or more of the following measures:
Reorient or relocate the receiving antenna.
Increase the separation between the equipment and receiver.
Connect the equipment into an outlet on a circuit different from that to which
the receiver is connected.
Consult the dealer or an experienced radio/TV technician for help.
RF exposure statement
This equipment complies with the FCC RF radiation exposure limits set forth for an
uncontrolled environment. This equipment should be installed and operated with
a minimum distance of 20cm between the radiator and any part of your body.
Professional Installation Statement
This equipment is intended for professional installation only.

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6.2 ISED Compliance Statement
Contains IC: 21098-ESPWROOM32E
This device contains license-exempt transmitter(s)/receiver(s) that comply with
Innovation, Science and Economic Development Canada license-exempt RSS(s).
Operation is subject to the following two conditions:
(1) This device may not cause interference.
(2) This device must accept any interference, including interference that
may cause undesired operation of the device.
L'émetteur/récepteur exempt de licence contenu dans le present appareil est
conforme aux CNR d'Innovation, Sciences et Développement économique Canada
applicables aux appareils radio exempts de licence. L'exploitation est autorisée aux
deux conditions suivantes:
(1) L'appareil ne doit pas produire de brouillage;
(2) L'appareil doit accepter tout brouillage radio électrique subi, même si le
brouillage est susceptible d'en compromettre le fonctionnement.
RF exposure statement
This equipment meets the exemption from the routine evaluation limits in section
2.5 of RSS-102. It should be installed and operated with a minimum distance of
20cm between the radiator and any part of your body.
Cet équipement est conforme à l'exemption des limites d'évaluation habituelle de
la section 2.5 de la norme RSS-102. Il doit être installé et utilisé à une distance
minimale de 20 cm entre le radiateur et toute partie de votre corps.

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6.3 Supplier's Declaration of Conformity
47 CFR § 2.1077 Compliance Information
Product Name: Atom UAV standalone, OEM
Product Model: FLATMUAVW, FLATMUAOW
Manufacturer:
Flarm Technology AG
Hinterbergstrasse 15
6330 Cham, Zug, Switzerland
www.flarm.com
Modular Components Used:
NAME: Wi-Fi & Bluetooth Internet of Things Module
MODEL: ESP32-WROOM-32E
FCC ID: 2AC7Z-ESP32WROOM32E
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.
Other manuals for ATOM UAV
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