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Communication frames
From Gluonpilot
Independent of the communication protocol (CSV or binairy), the information that can be sent is fixed. This we call the Communication Frames.
When looking at the configuration and groundstation code, the communication protocol layer returns Communication Frame objects to the upper layers. This is why it is important to standardize these frames.
The "Definition" part hereunder contains the fields that those Frames contain. The Field number is only a reference.
Contents |
Telemetry
Gyroscope & accelerometer raw
Definition
Field | 1 | 2 | 3 | 4 | 5 | 6 |
---|---|---|---|---|---|---|
Contents | x-acc [raw] | y-acc [raw] | z-acc [raw] | x-acc [raw] | y-acc [raw] | z-acc [raw] |
CSV
Gyroscope & accelerometer processed
Definition
Field | 1 | 2 | 3 | 4 | 5 | 6 |
---|---|---|---|---|---|---|
Contents | x-acc [g] | y-acc [g] | z-acc [g] | gyro_x [°/s] | gyro-y [°/s] | gyro-z [°/s] |
CSV
Pressure & temperature
Field | 1 | 2 |
---|---|---|
Contents | Pressure [Pa] | Temperature [°C] |
RC transmitter input
Field | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
---|---|---|---|---|---|---|---|---|
Contents | Ch 1 [ms] | Ch 2 [ms] | Ch 3 [ms] | Ch 4 [ms] | Ch 5 [ms] | Ch 6 [ms] | Ch 7 [ms] | Ch 8 [ms] |
GPS basic
Field | 1 | 2 | 3 | 4 | 5 | 6 |
---|---|---|---|---|---|---|
Contents | Status [E,A,V] | Latitude [rad] | Longitude [rad] | speed [m/s] | Heading [rad] | Satellites [#] |
Commands
Set telemetry
Definition
Field | 1 | 2 | 3 | 4 | 5 |
---|---|---|---|---|---|
Contents | Gps basic | Gyro & Acc raw | Gyro & Acc processed | Transmitter input | Pressure & Temp |
The contents "x" of the fields is the output interval x/30 seconds.
CSV
Set accelerometer
Definition
Field | 1 | 2 | 3 |
---|---|---|---|
Contents | Acc X Neutral [Raw] | Acc Y Neutral [Raw] | Acc Z Neutral [Raw] |
CSV
Set input channels
Definition
Field | 1 | 2 | 3 | 4 | 5 |
---|---|---|---|---|---|
Contents | AP | Motor | Pitch | Roll | Yaw |
The contents is the channel number (starting from 1) that contains this input.
CSV
Set GPS configuration
Definition
Field | 1 | 2 |
---|---|---|
Contents | Start-up baudrate | Operational baudrate |
CSV
Write to flash
This command without parameters instructs the module to write the current configuration to flash. (On startup, the configuration is always loaded from flash.)
Load from flash
This command without parameters instructs the module load the configuration saved in flash to the memory, so it becomes the current configuration.
Print all configuration
This command without parameters instructs the module to output the current configuration. As a result, the module will return 1 "All Config" frame.