# Herelink Controller

All standard package X55 units come with the Herelink Controller by default.

{% hint style="info" %}
For more information about the Herelink Controller, please refer to the [Herelink documentation](https://docs.cubepilot.org/user-guides/herelink/herelink-overview).
{% endhint %}

<figure><img src="https://2204187310-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEEy9Jtkhq7S6GY1u4d4N%2Fuploads%2F3EcqltCfD0vA0D7iRAsA%2F17.png?alt=media" alt="" width="375"><figcaption></figcaption></figure>

By default, the Herelink is set up as a Mode 2 configuration.

![
](https://2204187310-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEEy9Jtkhq7S6GY1u4d4N%2Fuploads%2FJq0jVleyfXA61a67Kn5W%2F18.png?alt=media)

## Configure Buttons

The Herelink is fitted with six programmable buttons and one scrolling wheel. By default, the buttons are configured as follows.

| **Button**         | **Action**                |
| ------------------ | ------------------------- |
| Upper Left Wheel   | No Action                 |
| Upper Right Button | No Action                 |
| A                  | Altitude Hold Flight Mode |
| B                  | Loiter Flight Mode        |
| Home               | RTL Mode                  |
| C                  | Auto                      |
| D                  | No Action                 |

To configure the buttons, open QGC, go to “vehicle setup” and click the “Buttons”

![](https://2204187310-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEEy9Jtkhq7S6GY1u4d4N%2Fuploads%2FPie6nja8d8PD9FuIixeO%2F19.jpeg?alt=media)

{% hint style="warning" %}
Flight mode must be set only through the QGC buttons page, and not the SBUS signal in Herelink settings.
{% endhint %}

## Sharing data via Wi-fi Hotspot to Mission Planner

The Herelink controller is able to share data via a Wi-fi hotspot connection to broadcast the information to a PC or tablet, to be used with other flight control software such as Mission Planner. To share telemetry data using this method, the hotspot has to be turned on.

To turn on the Wi-fi hotspot, click the icon next to the arrow.

![](https://2204187310-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEEy9Jtkhq7S6GY1u4d4N%2Fuploads%2FS3eVKbQTmuSfEimdV2jg%2F21.jpeg?alt=media)

To access the wireless hotspot settings, press and hold the Wi-fi option in the notification drawer and select “Tethering & Portable Hotspot”.

![](https://2204187310-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEEy9Jtkhq7S6GY1u4d4N%2Fuploads%2FpGojsGpm8wTpcY3j7y4K%2F1.jpeg?alt=media)

You can set your hotspot name and set the password.

![](https://2204187310-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEEy9Jtkhq7S6GY1u4d4N%2Fuploads%2FbM11bA8is00Vy0KcOx3J%2F2.jpeg?alt=media)

On the PC, connect the Wi-fi to the hotspot. Open Mission Planner and set the port to “UDP” and click “Connect”. Enter port “14550”

![](https://2204187310-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEEy9Jtkhq7S6GY1u4d4N%2Fuploads%2Fe7ccc1o0ZD0cJBthwLas%2F3.jpeg?alt=media)

![](https://2204187310-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEEy9Jtkhq7S6GY1u4d4N%2Fuploads%2FDqfHsXpDZEC56HwqB7Vg%2F4.png?alt=media)

You are now connected to the same Wi-fi network as the Herelink.

## Sharing data via USB tethering

Connect with Mission Planner

To turn on the USB tethering, first plug in the Herelink to your PC with a USB cable.

Then, press and hold the icon next to the arrow.

![](https://2204187310-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEEy9Jtkhq7S6GY1u4d4N%2Fuploads%2F8FYlXlRtAbRsTkDXW8Cj%2F5.jpeg?alt=media)

To access the tethering settings, press and select “Tethering & Portable Hotspot”.

![](https://2204187310-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEEy9Jtkhq7S6GY1u4d4N%2Fuploads%2FFjYWuwUQ5yhczf0VX23Z%2F6.jpeg?alt=media)

Turn on USB tethering.

![](https://2204187310-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEEy9Jtkhq7S6GY1u4d4N%2Fuploads%2F0Ib13xpjv3xL7Uyt4tfv%2F7.png?alt=media)

Open Mission Planner on your PC.

Set the port to“UDPCL”.

Click "connect".

Enter the Herelink IP address: 192.168.42.129.

Enter Local port “14552”.

Click "connect"
