This paper presents the development of a new autonomous relay handover method based on a widely used open-source and low-cost UAV telemetry radio. Instead of ad-hoc topology, extended star topology is preferred due to its simplicity. The default statistical time division multiplexing mechanism of the selected radio is explained. Four improvements over the default features and the obtained benefits for UAV communication are described. Verification of the proposed method is conducted with a ground test and the results are presented.