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UAVOLighttelemetryBridge.c File Reference
UAVO to Lighttelemetry Bridge Module

Bridges selected UAVObjects to a minimal one way telemetry protocol for really low bitrates (1200/2400 bauds). This can be used with FSK audio modems or increase range for serial telemetry. Effective for ground OSD, groundstation HUD and Antenna tracker. More...

#include "openpilot.h"
#include "modulesettings.h"
#include "accels.h"
#include "airspeedactual.h"
#include "attitudeactual.h"
#include "baroaltitude.h"
#include "flightstatus.h"
#include "gpsposition.h"
#include "flightbatterysettings.h"
#include "flightbatterystate.h"
#include "manualcontrolcommand.h"
#include "positionactual.h"
#include "pios_thread.h"
#include "pios_modules.h"
#include <pios_hal.h>

Go to the source code of this file.

Detailed Description

Bridges selected UAVObjects to a minimal one way telemetry protocol for really low bitrates (1200/2400 bauds). This can be used with FSK audio modems or increase range for serial telemetry. Effective for ground OSD, groundstation HUD and Antenna tracker.

Author
dRonin, http://dRonin.org/, Copyright (C) 2016-2017
Tau Labs, http://taulabs.org, Copyright (C) 2013-2016 
                    Protocol details: 3 different frames, little endian.
                      * G Frame (GPS position): 18BYTES
                            0x24 0x54 0x47 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF  0xFF   0xC0   
                             $         T    G  --------LAT-------- -------LON---------      SPD --------ALT-------- SAT/FIX  CRC
                      * A Frame (Attitude): 10BYTES
                            0x24 0x54 0x41 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xC0       
                             $         T   A   --PITCH-- --ROLL--- -HEADING-  CRC
                      * S Frame (Sensors): 11BYTES
                            0x24 0x54 0x53 0xFF 0xFF  0xFF 0xFF        0xFF    0xFF          0xFF           0xC0     
                             $         T   S   VBAT(mv)      Current(ma)   RSSI      AIRSPEED  ARM/FS/FMOD   CRC

Before these used to be explicitly scheduled to time quanta. Now we just dump out stuff as fast as we can, ensuring the appropriate link share for each frame type.

See Also
The GNU Public License (GPL) Version 3

Definition in file UAVOLighttelemetryBridge.c.