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 1 Telemetry 1.1 Gyroscope & accelerometer raw 1.2 Gyroscope & accelerometer processed 1.3 Pressure & temperature 1.4 RC transmitter input 1.5 GPS basic 2 Commands 2.1 Set telemetry 2.2 Set accelerometer 2.3 Set input channels 2.4 Set GPS configuration 2.5 Write to flash 2.6 Load from flash 2.7 Print all configuration

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.