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| = Navigation Data structures = The MikroKopter will send these data after getting the abbo command 'O' with interval and max bytes per second. The MK will send differnt data sets. Data that did not change will be sent slower than sets that with changed data content. The different data sets can be identified by the index. == Max Bytes per second == This value is used when starting the abbo. It is used to keep the used bandwith to a specified (max) level according to the maximum data throughput of the communication interface. A useful value could be 1024 for a good wireless transmission and 200 for a slow transmission like GSM-Modems etc. = Implementations of the data structure = |
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| #define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80) #define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10) typedef struct { signed long Longitude; // distance to target in cm signed long Latitude; // course to target in deg } GPS_Position_tiny_t; // this struct is included in every dataset at the beginning typedef struct // Index 10 { unsigned char Index; // version of the data structure (<10 == old data struct) GPS_Position_tiny_t CurrentPosition; short int Altimeter; // hight according to air pressure unsigned char GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) unsigned char OSDStatusFlags; } OSD_Base_Data_t; typedef struct // Index 11 { OSD_Base_Data_t BaseData; // common data in every dataset unsigned char OSDStatusFlags2; unsigned char NCFlags; // Flags from NC unsigned char ReserveFlags; unsigned char Errorcode; // 0 --> okay unsigned char SpeakHoTT; unsigned char VarioCharacter; unsigned char GPS_ModeCharacter; unsigned char BL_MinOfMaxPWM; } OSD_NaviData_Flags_t; typedef struct // Index 12 { OSD_Base_Data_t BaseData; // common data in every dataset GPS_Position_tiny_t TargetPosition; // short int TargetAltitude; // unsigned char RC_Quality; // RC_Quality } OSD_NaviData_Target_t; typedef struct // Index 13 { OSD_Base_Data_t BaseData; GPS_Position_tiny_t HomePosition; // short int HomeAltitude; // short unsigned int WP_OperatingRadius; // current WP operation radius around the Home Position in m unsigned char LipoCellCount; unsigned char DescendRange; // in 10m unsigned char FlyingRange; // in 10m } OSD_NaviData_Home_t; typedef struct // Index 14 { OSD_Base_Data_t BaseData; short unsigned int FlyingTime; // in seconds short unsigned int DistanceToHome; unsigned char BearingToHome; // in 2° (100 = 200°) short unsigned int DistanceToTarget; unsigned char BearingToTarget; // in 2° (100 = 200°) char AngleNick; // current Nick angle in 1° char AngleRoll; // current Rick angle in 1° unsigned char SatsInUse; // number of satellites used for position solution } OSD_NaviData_Deviation_t; typedef struct // Index 15 { OSD_Base_Data_t BaseData; unsigned char WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 unsigned char WaypointNumber; // number of stored waypoints unsigned char TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached unsigned char WP_Eventchannel; } OSD_NaviData_Waypoint_t; typedef struct // Index 16 { OSD_Base_Data_t BaseData; short unsigned int UBat; // Battery Voltage in 0.1 Volts short unsigned int Current; // actual current in 0.1A steps // now 16 bit ! short unsigned int UsedCapacity; // used capacity in mAh char Variometer; // climb(+) and sink(-) rate unsigned char Heading; // Current moving direction in 2° (100 = 200°) unsigned char CompassHeading; // current compass value in 2° unsigned char Gas; // for future use short unsigned int ShutterCounter; // counts every time a Out1 was activated short int SetPointAltitude; // setpoint for altitude } OSD_NaviData_Volatile_t; typedef struct // Index 17 { OSD_Base_Data_t BaseData; GPS_Position_tiny_t FailsafePosition; // } OSD_NaviData_Failsafe_t; typedef struct // Index 18 { unsigned char Index; // version of the data structure GPS_Position_tiny_t ShutterPosition; // } OSD_NaviData_ShutterPosition_t; |
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ //+ New protocol //+ start abbo communication with: 'O' + Interval 1byte [10ms] + MaxBytesPerSecond (2Bytes) //+ i.e. 'O'+10+1024 //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ typedef struct // Index:10 (15 Bytes need 27 ASCII-characters) { u8 Index; // Index to identify this data set s32 ActualLongitude; // s32 ActualLatitude; // s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx u8 CamCtrlChar; // Status from a connected CamCtrl unit: 'R' = REC 'c' = Ready '!' = Error ...etc u8 reserve1; } __attribute__((packed)) NaviData_Tiny_t; extern NaviData_Tiny_t NaviData_Tiny; #define START_PAYLOAD_DATA 13 // typedef struct // Index:11 (24 Bytes need 39 ASCII-characters) { u8 Index; // Index to identify this data set s32 ActualLongitude; // s32 ActualLatitude; // s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx u8 OSDStatusFlags2; // see main.h for definitions OSD_FLAG2_xxx u8 NCFlags; // Flags from NC u8 ReserveFlags; u8 Errorcode; // 0 --> okay see http://wiki.mikrokopter.de/ErrorCodes u8 SpeakHoTT; // voice output SPEAK_xxx (see spi_slave.h) u8 VarioCharacter; // display as ascii character ('+' = 'climb' etc) u8 GPS_ModeCharacter; // display as ascii character ('H' = 'Home' etc) u8 BL_MinOfMaxPWM; // status byte of the BL-Ctrls } __attribute__((packed)) NaviData_Flags_t; extern NaviData_Flags_t NaviData_Flags; typedef struct // Index:12 (27 Bytes need 43 ASCII-characters) { u8 Index; // Index to identify this data set s32 ActualLongitude; // s32 ActualLatitude; // s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx s32 TargetLongitude; // s32 TargetLatitude; // s16 TargetAltitude; // hight according to air pressure u8 RC_Quality; // RC_Quality } __attribute__((packed)) NaviData_Target_t; extern NaviData_Target_t NaviData_Target; typedef struct // Index:13 (30 Bytes need 47 ASCII-characters) { u8 Index; // Index to identify this data set s32 ActualLongitude; // s32 ActualLatitude; // s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx s32 HomeLongitude; // s32 HomeLatitude; // s16 HomeAltitude; // hight according to air pressure u16 WP_OperatingRadius; // current WP operation radius around the Home Position in m u8 LipoCellCount; u8 DescendRange; // in [10m] u8 ManualFlyingRange; // in [10m] u8 reserve1; u8 reserve2; } __attribute__((packed)) NaviData_Home_t; extern NaviData_Home_t NaviData_Home; typedef struct // Index:14 (24 Bytes need 39 ASCII-characters) { u8 Index; // Index to identify this data set s32 ActualLongitude; // s32 ActualLatitude; // s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx u16 FlyingTime; // in seconds u16 DistanceToHome; // [10cm] (100 = 10m) u8 HeadingToHome; // in 2° (100 = 200°) u16 DistanceToTarget; // [10cm] (100 = 10m) u8 HeadingToTarget; // in 2° (100 = 200°) s8 AngleNick; // current Nick angle in 1° s8 AngleRoll; // current Rick angle in 1° u8 SatsInUse; // number of satellites used for position solution } __attribute__((packed)) NaviData_Deviation_t; extern NaviData_Deviation_t NaviData_Deviation; typedef struct // Index:15 (18 Bytes need 31 ASCII-characters) { u8 Index; // Index to identify this data set s32 ActualLongitude; // s32 ActualLatitude; // s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 u8 WaypointNumber; // number of stored waypoints u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached u8 WP_Eventchannel; // the current value of the event channel u8 reserve; } __attribute__((packed)) NaviData_WP_t; extern NaviData_WP_t NaviData_WP; typedef struct // Index:16 (27 Bytes need 43 ASCII-characters) { u8 Index; // Index to identify this data set s32 ActualLongitude; // s32 ActualLatitude; // s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx u16 UBat; // Battery Voltage in 0.1 Volts u16 Current; // actual current in 0.1A steps u16 UsedCapacity; // used capacity in mAh s8 Variometer; // climb(+) and sink(-) rate u8 Heading; // Current moving direction in 2° (100 = 200°) u8 CompassHeading; // current compass value in 2° u8 Gas; // current gas (thrust) u16 ShutterCounter; // counts every time a Out1 was activated s16 SetpointAltitude; // setpoint for altitude } __attribute__((packed)) NaviData_Volatile_t; extern NaviData_Volatile_t NaviData_Volatile; typedef struct // Index:17 (21 Bytes need 35 ASCII-characters) { u8 Index; // Index to identify this data set s32 ActualLongitude; // s32 ActualLatitude; // s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx s32 Longitude; // Failsafe-Position s32 Latitude; // Failsafe-Position } __attribute__((packed)) NaviData_FS_Pos_t; extern NaviData_FS_Pos_t NaviData_Failsafe; typedef struct // Index:18 (9 Bytes need 19 ASCII-characters) { u8 Index; // Index to identify this data set s32 Longitude; // Trigger Position s32 Latitude; // Trigger Position } __attribute__((packed)) NaviData_Out_t; extern NaviData_Out_t NaviData_Out1Trigger; |
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= OSD flags definitions = {{{ #!cplusplus // xxx.OSDStatusFlags (multiple data sets) -> this is the definition in the OSD data structure #define OSD_FLAG_CAREFREE 0x01 #define OSD_FLAG_ALTITUDE_CONTROL 0x02 #define OSD_FLAG_CALIBRATE 0x04 #define OSD_FLAG_OUT1_ACTIVE 0x08 #define OSD_FLAG_OUT2_ACTIVE 0x10 #define OSD_FLAG_LOWBAT 0x20 #define OSD_FLAG_VARIO_TRIM_UP 0x40 #define OSD_FLAG_VARIO_TRIM_DOWN 0x80 // NaviData_Flags.OSDStatusFlags2 (Index:11) -> this is the definition in the OSD data structure #define OSD2_FLAG_MOTOR_RUN 0x01 #define OSD2_FLAG_FLY 0x02 #define OSD2_FLAG_RC_FAILSAVE_ACTIVE 0x04 #define OSD2_FLAG_START 0x08 #define OSD2_FLAG_EMERGENCY_LANDING 0x10 #define OSD2_FLAG_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground #define OSD2_FLAG_AUTO_STARTING 0x40 #define OSD2_FLAG_AUTO_LANDING 0x80 }}} |
from uart1.h in NaviCtrl code (please take a look at SVN for latest version of header files)
Navigation Data structures
The MikroKopter will send these data after getting the abbo command 'O' with interval and max bytes per second.
The MK will send differnt data sets. Data that did not change will be sent slower than sets that with changed data content.
The different data sets can be identified by the index.
Max Bytes per second
This value is used when starting the abbo.
It is used to keep the used bandwith to a specified (max) level according to the maximum data throughput of the communication interface.
A useful value could be 1024 for a good wireless transmission and 200 for a slow transmission like GSM-Modems etc.
Implementations of the data structure
1 //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2 //+ New protocol
3 //+ start abbo communication with: 'O' + Interval 1byte [10ms] + MaxBytesPerSecond (2Bytes)
4 //+ i.e. 'O'+10+1024
5 //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6
7 typedef struct // Index:10 (15 Bytes need 27 ASCII-characters)
8 {
9 u8 Index; // Index to identify this data set
10 s32 ActualLongitude; //
11 s32 ActualLatitude; //
12 s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm
13 u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
14 u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx
15 u8 CamCtrlChar; // Status from a connected CamCtrl unit: 'R' = REC 'c' = Ready '!' = Error ...etc
16 u8 reserve1;
17 } __attribute__((packed)) NaviData_Tiny_t;
18 extern NaviData_Tiny_t NaviData_Tiny;
19
20 #define START_PAYLOAD_DATA 13 //
21
22 typedef struct // Index:11 (24 Bytes need 39 ASCII-characters)
23 {
24 u8 Index; // Index to identify this data set
25 s32 ActualLongitude; //
26 s32 ActualLatitude; //
27 s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm
28 u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
29 u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx
30 u8 OSDStatusFlags2; // see main.h for definitions OSD_FLAG2_xxx
31 u8 NCFlags; // Flags from NC
32 u8 ReserveFlags;
33 u8 Errorcode; // 0 --> okay see http://wiki.mikrokopter.de/ErrorCodes
34 u8 SpeakHoTT; // voice output SPEAK_xxx (see spi_slave.h)
35 u8 VarioCharacter; // display as ascii character ('+' = 'climb' etc)
36 u8 GPS_ModeCharacter; // display as ascii character ('H' = 'Home' etc)
37 u8 BL_MinOfMaxPWM; // status byte of the BL-Ctrls
38 } __attribute__((packed)) NaviData_Flags_t;
39 extern NaviData_Flags_t NaviData_Flags;
40
41 typedef struct // Index:12 (27 Bytes need 43 ASCII-characters)
42 {
43 u8 Index; // Index to identify this data set
44 s32 ActualLongitude; //
45 s32 ActualLatitude; //
46 s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm
47 u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
48 u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx
49 s32 TargetLongitude; //
50 s32 TargetLatitude; //
51 s16 TargetAltitude; // hight according to air pressure
52 u8 RC_Quality; // RC_Quality
53 } __attribute__((packed)) NaviData_Target_t;
54 extern NaviData_Target_t NaviData_Target;
55
56 typedef struct // Index:13 (30 Bytes need 47 ASCII-characters)
57 {
58 u8 Index; // Index to identify this data set
59 s32 ActualLongitude; //
60 s32 ActualLatitude; //
61 s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm
62 u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
63 u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx
64 s32 HomeLongitude; //
65 s32 HomeLatitude; //
66 s16 HomeAltitude; // hight according to air pressure
67 u16 WP_OperatingRadius; // current WP operation radius around the Home Position in m
68 u8 LipoCellCount;
69 u8 DescendRange; // in [10m]
70 u8 ManualFlyingRange; // in [10m]
71 u8 reserve1;
72 u8 reserve2;
73 } __attribute__((packed)) NaviData_Home_t;
74 extern NaviData_Home_t NaviData_Home;
75
76 typedef struct // Index:14 (24 Bytes need 39 ASCII-characters)
77 {
78 u8 Index; // Index to identify this data set
79 s32 ActualLongitude; //
80 s32 ActualLatitude; //
81 s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm
82 u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
83 u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx
84 u16 FlyingTime; // in seconds
85 u16 DistanceToHome; // [10cm] (100 = 10m)
86 u8 HeadingToHome; // in 2° (100 = 200°)
87 u16 DistanceToTarget; // [10cm] (100 = 10m)
88 u8 HeadingToTarget; // in 2° (100 = 200°)
89 s8 AngleNick; // current Nick angle in 1°
90 s8 AngleRoll; // current Rick angle in 1°
91 u8 SatsInUse; // number of satellites used for position solution
92 } __attribute__((packed)) NaviData_Deviation_t;
93 extern NaviData_Deviation_t NaviData_Deviation;
94
95 typedef struct // Index:15 (18 Bytes need 31 ASCII-characters)
96 {
97 u8 Index; // Index to identify this data set
98 s32 ActualLongitude; //
99 s32 ActualLatitude; //
100 s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm
101 u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
102 u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx
103 u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
104 u8 WaypointNumber; // number of stored waypoints
105 u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
106 u8 WP_Eventchannel; // the current value of the event channel
107 u8 reserve;
108 } __attribute__((packed)) NaviData_WP_t;
109 extern NaviData_WP_t NaviData_WP;
110
111 typedef struct // Index:16 (27 Bytes need 43 ASCII-characters)
112 {
113 u8 Index; // Index to identify this data set
114 s32 ActualLongitude; //
115 s32 ActualLatitude; //
116 s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm
117 u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
118 u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx
119 u16 UBat; // Battery Voltage in 0.1 Volts
120 u16 Current; // actual current in 0.1A steps
121 u16 UsedCapacity; // used capacity in mAh
122 s8 Variometer; // climb(+) and sink(-) rate
123 u8 Heading; // Current moving direction in 2° (100 = 200°)
124 u8 CompassHeading; // current compass value in 2°
125 u8 Gas; // current gas (thrust)
126 u16 ShutterCounter; // counts every time a Out1 was activated
127 s16 SetpointAltitude; // setpoint for altitude
128 } __attribute__((packed)) NaviData_Volatile_t;
129 extern NaviData_Volatile_t NaviData_Volatile;
130
131
132 typedef struct // Index:17 (21 Bytes need 35 ASCII-characters)
133 {
134 u8 Index; // Index to identify this data set
135 s32 ActualLongitude; //
136 s32 ActualLatitude; //
137 s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm
138 u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h)
139 u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx
140 s32 Longitude; // Failsafe-Position
141 s32 Latitude; // Failsafe-Position
142 } __attribute__((packed)) NaviData_FS_Pos_t;
143 extern NaviData_FS_Pos_t NaviData_Failsafe;
144
145 typedef struct // Index:18 (9 Bytes need 19 ASCII-characters)
146 {
147 u8 Index; // Index to identify this data set
148 s32 Longitude; // Trigger Position
149 s32 Latitude; // Trigger Position
150 } __attribute__((packed)) NaviData_Out_t;
151 extern NaviData_Out_t NaviData_Out1Trigger;
OSD flags definitions
1 // xxx.OSDStatusFlags (multiple data sets) -> this is the definition in the OSD data structure
2 #define OSD_FLAG_CAREFREE 0x01
3 #define OSD_FLAG_ALTITUDE_CONTROL 0x02
4 #define OSD_FLAG_CALIBRATE 0x04
5 #define OSD_FLAG_OUT1_ACTIVE 0x08
6 #define OSD_FLAG_OUT2_ACTIVE 0x10
7 #define OSD_FLAG_LOWBAT 0x20
8 #define OSD_FLAG_VARIO_TRIM_UP 0x40
9 #define OSD_FLAG_VARIO_TRIM_DOWN 0x80
10
11 // NaviData_Flags.OSDStatusFlags2 (Index:11) -> this is the definition in the OSD data structure
12 #define OSD2_FLAG_MOTOR_RUN 0x01
13 #define OSD2_FLAG_FLY 0x02
14 #define OSD2_FLAG_RC_FAILSAVE_ACTIVE 0x04
15 #define OSD2_FLAG_START 0x08
16 #define OSD2_FLAG_EMERGENCY_LANDING 0x10
17 #define OSD2_FLAG_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground
18 #define OSD2_FLAG_AUTO_STARTING 0x40
19 #define OSD2_FLAG_AUTO_LANDING 0x80
20