most modules are based on the same chipset now
even the compass is the same between BZ 251 and BN-880 (compass: HMC5883)
Pretty messy, eh?
Not going to add my AI slop to that 
For GPS, my latest info was that m10 (m100) is what you currently use.
At leasts that is what I use in Betaflight and it is so much better than the M8 line.
(faster fix, better accuracy).
In my software (BRemote2) I added the M100 as an external module to the RX via ESP-NOW with its own ESP32. This would also likely work for the TX.
So no modifications to current hardware would be needed.
If you ever get to a (one) released software, I will be happy to try that as an option and share if it works.
BREmote V2.5-Evo — Gestures, Return-to-Me & GPS Anti-Spoofing
Sharing some updates from the V2.5-Evo fork. Started as V2 with GPS and grew into something more. All bench tested, water testing next.
—New Gestures
Toggle buttons now control autonomous modes directly:
- RIGHT tap → LEFT hold 5s — arms Return-to-Me
- LEFT tap → RIGHT hold 5s — cycles Follow-Me modes (in the water)
Two-part combos make accidental activation essentially impossible. Also added double squeeze arming (can be disabled in Spiffs/Webconsole).
—Return-to-Me (RM)
Buggy drives itself back toward you using compass bearing and your TX GPS position. You just must hold the throttle — releasing stops it immediately, no exceptions. Ten safety gates run continuously including hard stop at configurable distance, GPS stale timeouts, and convergence checking. Any gate failure cuts throttle instantly and flashes S t on the display. User can configure steering toggle for a) to course correct avoid obstacles, or b) or stop RM mode.
—GPS Anti-Spoofing — 3 Phases
Phase A runs always on RX — checks HDOP, acceleration, and teleport jumps on every reading. Phase B cross-checks TX↔RX GPS distance and speed every 30 seconds. Phase C runs during active RTM and verifies the buggy is actually converging on your position. All three are independent and stack. RTM cannot arm if any phase is failing.
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Hi, the first master stable release for Bremote2.5-Evo is out to beta testers. If you want to flash it complete my google form and will send you link.
BREmote V2.5-Evo — what’s running now:
- 10 Hz LoRa wireless control, 868/915 MHz — rock solid link
- Live GPS speed on TX display (km/h / knots / mph) — no more guessing
- Return-to-Me (RTM) — hold throttle, board steers itself back to you by compass bearing
- 3-phase GPS anti-spoofing — rejects bad/fake GPS before RTM can arm
- Approach decel zone — RTM slows itself down in the last 15 m, clean stop
- VESC telemetry — battery %, motor temp, speed live on remote display
- Flash data logger — GPS + VESC to onboard storage, download over WiFi
- Web Serial Config Tool — full parameter config offline in any browser, plain-English descriptions for every setting
- Haptic feedback — signal drop, RTM arm/disarm, water ingress alerts
- 7 critical V2 bugs fixed (watchdog, mutex race, stack overflows, I2C conflict)
Coming next:
- Follow-Me mode — board holds position behind you autonomously while you ride
- BLE telemetry to phone / watch
- Dual-TX support — two riders, one board, safe handoff.
Support the development here: Ko-fi (https://ko-fi.com/monterman)
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Small update on the Nano, I have been tinkering on a version that also has the “normal” display
If fits quite well and will provide more information that the LEDs
Furthermore, that means the hardware of “normal” and “Nano” remote are exactly the same and therefore the software can be too.
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Nice!
Your first video had me seriously worried.
The fiddling with the leds alone looked like it would take me 12 hours with my skill level.
I also had considered to completely get rid of the display and to use an external device over ESP-Now.
Or just use my watch over BLE.
Would make assembly much easier and should also be much better sealed vs water.
You can get a complete display module done for like 2-3 EUR with one of these ESP32/Display combo modules.
I would like to test the Follow me function on my boogie I just want to clarify I’m getting correct components?
So I need to order the BZ 251 for Rx and BE-180 and can I modify my built remotes or need to build new again?
I’m not the best at the programming side of build is there or will there be a step by step process for build and should I wait or is it straight forward to do?
Much appreciated all the work gone into this
Cheers Astan
You will need a Tx with a GPS module inside. If you built one with GPS, no matter if BN-220 or other, you can use it. If you only have a Tx without GPS you will need to build a new one, since removing the potting material and adding GPS will likely destroy the remote.
And for Rx you will need to get the GPS module mentioned above and connect it to UART and I2C, that’s pretty easy if you are skilled at soldering
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What made you go for compass for that function?
I would have guessed it would be really hard to insulate that from EMI and also without a gyro no way to compensate for tilt error. For example when running along a wave.
With Betaflight and my drone, compass was completely unusable for RTH.
GPS GOG works great and eliminates all the issues. Just need a moving vehicle. But since the boogie cannot turn without moving, that should not matter at all (as opposed to drone where compass helps for position hold).
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Hi all, today I’m tackling two issues to patch:
-
Some VESC telemetry is stale, it’s not showing wattage accurately, and temperature is also stale after boot. That should be fixed by end of day.
-
Per Jan’s recommendation, compass steering is being removed from return-to-me and follow-me modes. The EMF from the motor’s phase wires and power wires causes large deviations in the compass readings that make it unusable during throttle. We’ll be relying on GPS navigation instead for those modes.
Small note to everyone: this is still alpha development. For those with access to the GitHub repo, please be careful if you’re testing with the current firmware. I’m pushing updates daily, so make sure to grab the latest one.
The solution I’m implementing takes an initial snapshot of the heading from the compass while there’s no throttle and no EMF. I’ve tested it, and the compass data is accurate under those conditions. As soon as the throttle engages, the compass becomes unusable, that’s where GPS COG plus P+D will take over. Full PID is overkill since we’re not a drone, but PD should do the job. I’m working on that implementation over the next few days! (Thanks Jan for the Feedback)
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So I put this together this afternoon.
It’s working, but needs a few tweaks.
External module for the Tx either with or without display. Module with display can show all the data from Vesc, Tx and Rx.
Add a M10 GPS module and you get GPS on the Tx, transmit via Lora to Rx.
This would enable RTM without (hardware) changes to old TX.
Priciest piece is the GPS module for +/- 10 EUR.
So about 11-14 EUR with stock hardware from AliExpress.
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Already got an idea how this is going to be powered and waterproofed?
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Not really, just wanted to see if it works.
Since it can be anywhere, for now I’d just put it in a vacuum bag and stick it to the board.
Also not sure if I want the display or not.
Display will likely drain quite a bit of power.
Without display, could probably use one of the small pouch cells to power it and this would be a tiny package, like 30x30x8mm.
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Also still have the plan to create a throttle lock for getting up on board at some point, could combine the two functions.
Add a small pressure triggered switch on the board and as long as it’s pressed, throttle gets locked so you don’t have to hold the remote while getting up. Once you let go of the switch , you have X seconds to get up and reengage the remote.
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Had some additional thoughts about RTM/Follow Me. I think the current “hold the trigger” safety gate is useful as a dead-man switch, but it is not sufficient for Follow-Me safety.
If the buggy is following behind the rider, the rider may not see or hear what it is doing. In that case, holding the trigger does not mean the rider has real awareness or control. It only means they are still authorizing motion.
A stronger safety model would be either:
A stationary operator holding the TX and watching the buggy (i.e. TX GPS speed<2km/h), or
A very-close proximity mode where the rider can notice problems (i.e Distance < 50m) , or
A “ride-ahead” mode instead of Follow-Me.
The ride-ahead idea: instead of targeting the TX position, the buggy could target a virtual point calculated from GPS course-over-ground, for example 30 m ahead and 8 m to the side of the rider. Then the rider can actually see the buggy and monitor it.
The trigger should still remain as a hard stop, but I would not treat it as the main safety gate for Follow-Me unless the rider can actually observe the buggy.
I like this! and not hard to do once FM is implemented! by tweaking FM mode variables or just adding a Front/Ahead option F4. (In addition to the positions I am working on 1- Right Behind (“F1=Right”); 2- Behind=F2; 3- Left behind (F3=Left); and new one F4 (Front). Then, user changes the variables in WebPage such as follow me distance, Angle, and Slow down bubble (to protect the surfer from being hit… in theory.
(perhaps the F4=Front would have a 2x or 3x distance hardcoded… for safety).
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Hoa about this one?.. Nice screen easy to access GPIO for expansion, no touch screen, fully documented by waveshare and clone avialable in Aliexpress.
ESP32-S3 1.69-inch IPS Touch LCD Display Development Board 240×280 ST7789V2 SPI Display Module and 6-axis Sensor for Arduino
here is the wiki for docs from waveshare.
i may get one to play with, and use as telemery and logger connected via BT to TX.
This needs to be fully potted and add magnetic pogo USB connector as well as waterproof some micro switches, all inside a 3d printed housing. Or it can live inside my transparent lid [Seahorse cas.] (Seahorse SE57 Micro Hard Protective Case – Official Seahorse Cases) on the Tow Buggy.
As I said I already have this working.
If you really want, you could use that module.
But this - https://de.aliexpress.com/item/1005009851781465.html - and something like this - https://de.aliexpress.com/item/1005008990042464.html - is all you need.
For me your’s would be far too bulky to have on me or on my board. Also I assume the power consumtion is pretty hight. Mine comes out at about 30mA in use.
So a 18650 would power it for days.
0.96“ display is really small, maybe ok for young eyes, I can defintely not read anything without reading glasses on such a tiny display.
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I got the 1.3" one, so far bigger than original Bremote2 display.
Readability more a font size issue than display I think.
Personally prefer smaller total size on my board to a bigger display.
All I personally need to see is battery state and vesc temp, maybe a bar for connection quality.
Think that would be large enough for anyone to read.
If you squeeze like 50 numbers on a 2" display like the VX5 does, I can see the issue.
But easy enough to use a another i2c display if you really want.
The one piece boards are nice though, super simple to set up.