Go2_navigation/unitree_ui/unitree_ui-main/docs/bluetooth.md

Bluetooth

Configure the robot's WiFi and pair the BLE remote control without the phone app. Open from the landing page → Bluetooth tile.

Robot Provisioning

Scan, connect, fetch SN + AP MAC, configure WiFi (SSID, password, STA / AP mode, region). Adapter selector for switching between multiple HCI adapters (handy with USB dongles).

Protocol versions:

• V1 / V2 — used by legacy firmware (Go2 < 1.1.15, G1 < 1.5.1). Standard Nordic UART or FFE0 service. See bluetooth-v1-v2.md for the full GATT layout and command schema.
• V3 — G1 ≥ 1.5.1 and Go2 ≥ 1.1.15. Adds two new opcodes: VERSION (0xF1) and GCM_KEY (0xF2). The UI gates V3 probes on the scanned BLE name (/^(G1|Go2)[_\W]/i); older firmware silently drops the probe so it fails soft (a few-second timeout). See bluetooth-v3.md for the magic-prefix handshake and key-exchange details.

Remote Control

Pair the Unitree BLE remote (Unitree-* advertising name) to read live joystick axes and button states, with an Hz counter showing the update rate.

Once paired, a gamepad icon appears in the control view's setting bar — click it to relay the remote's input to the robot over the WebRTC rt/wirelesscontroller channel:

Full protocol details and frame layout in remote-control.md.

Running the BLE Server

The dev npm run start script launches both Vite and the Python BLE backend together. To run them separately:

pip install -r server/requirements.txt
npm run ble-server     # Python FastAPI BLE backend
npm run dev            # Vite frontend (no BLE)

The frontend talks to the BLE server through Vite's /ble-api/* proxy, so CORS isn't a concern.