TFPM01 – TFUNIPAYLOAD01-based TF-ATMON Particulate Matter Sensor
Overview
The TFPM01 is the first generation airborne particulate matter sensor module designed for the TF-ATMON atmospheric monitoring system. It is built around the Sensirion SPS30 dust sensor and utilizes the TFUNIPAYLOAD01 MAVLink interface in combination with a GPS time reference from TFGPS01.
The sensor firmware is Arduino-based and runs on an ATmega1284P microcontroller. It converts real-time air quality data into MAVLink TUNNEL messages, allowing seamless integration with flight controllers and post-flight analysis in the TF-ATMON system.
Note: TFPM01 is now considered obsolete and has been succeeded by TFPM02, which integrates more directly with PX4.
Example Deployment: Fireworks Pollution Study
TFPM01 was successfully used in a study to monitor airborne particulate levels during New Year’s Eve, mounted on a TF-G2 autogyro.
Detailed data analysis is available in this notebook.
System Architecture and Connections
TFPM01 integrates the following components:
- SPS30 sensor – for particulate matter detection (PM1.0, PM2.5, PM4, PM10)
- ATmega1284P on ATmegaTQ4401A – runs firmware and prepares MAVLink messages
- TFGPS01 – provides GPS and PPS synchronization
- TFUNIPAYLOAD01 – provides standardized data interface to the autopilot via MAVLink
The photo illustrates general layout; refer to table below for pin-level accuracy.
SPS30 to MCU Wiring Table
| SPS30 Pin | Signal | ATmega1284P (MCU) Pin | Notes / Color |
|---|---|---|---|
| 1 | VDD (+5V) | Vcc | Red |
| 2 | SDA | D17 / SDA with 10k pull-up | Black |
| 3 | SCL | D16 / SCL with 10k pull-up | Black |
| 4 | Interface Select | GND (selects I2C) | Black |
| 5 (outer) | GND | GND | Black |
GPS PPS Sync
The PPS signal from TFGPS01 is connected to pin PD4 (Arduino pin 12) on the MCU. This can be modified in firmware source code.
MAVLink Integration
TFPM01 outputs data via MAVLink TUNNEL messages over a serial port connected to a PX4-compatible autopilot. Data is automatically:
- Logged on-board in PX4
.ulgformat - Available for live viewing and inspection in QGroundControl if broadcasted
- Visualized in TF-ATMON tools with spatiotemporal tagging
For further instructions, refer to the TFUNIPAYLOAD01 documentation.
Summary
TFPM01 demonstrated the feasibility of integrating high-quality particulate sensors in airborne missions without the need for custom autopilot firmware. Although superseded by TFPM02, it remains an example platform for development and experimentation in atmospheric aerosol monitoring.
Repository: TFPM01 GitHub