from uart1.h in NaviCtrl code (please take a look at SVN for latest version of header files)
Navigation Data
The MikroKopter will send these data after getting the abbo command 'O' with interval and max bytes per second.
Interval
This value [10ms] is used when starting the abbo.
10 => send the data every 100ms
Max Bytes per second
This value [bytes per second] 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.
Index
The MK will send differnt data sets automatically.
Data that did not change will be sent more seldom than sets that with changed data content.
The different data sets can be identified by the index.
Implementations of the data structure
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ //+ 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 OSDStatusFlags3; u8 reserve1; } __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; typedef struct // Index:19 (36 Bytes need 55 ASCII-characters) -> 7+(x/3)*4 { 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 HoTT_DisplayText[21]; // The same like on the lower line of the HoTT-Display u8 HoTT_TextLevel; // Level of the Message: 0 = Nothing special; 1 = OEM-Name ; 2 = Waypoint Data ; 3 = Simulation ; 4 = "Calibrate" ; 5 = "Load&Safe" ; 6 = "Setting name" ; 7-10 = Error u8 MagnetField; // 100% = okay } __attribute__((packed)) NaviData_HoTT_Text_t; extern NaviData_HoTT_Text_t NaviData_HoTT_Text; typedef struct // Index:20 (15 Bytes need 27 ASCII-characters) -> sending only if LaserCtrl is connected { 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 Distance; } __attribute__((packed)) NaviData_Laser_t; extern NaviData_Laser_t NaviData_Laser;
OSD flags definitions
// 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
// NaviData_Flags.OSDStatusFlags3 (Index:13 Home-Position) -> use only for flags that change slowly
// Note: since NC V2.18
#define OSD3_FLAG_FIXBIT0 0x01 // type of GPS-Fix (see above)
#define OSD3_FLAG_FIXBIT1 0x02
#define OSD3_FLAG_FIXBIT2 0x04
#define OSD3_FLAG_HOTSHOE 0x08 // HotShoe connector attached
#define OSD3_FLAG_BOAT_MODE 0x10 // MK is calibrated in Boat-Mode
#define OSD3_FLAG_MK_IS_READY 0x20 // ready & calibrated
-> for Bits OSD3_FLAG_FIXBIT0-2 there are the followig Satfix States possible:
#define OSD_FIX_NONE 0
#define OSD_FIX_2D 1
#define OSD_FIX_3D 2
#define OSD_FIX_DGPS 3
#define OSD_FIX_RTK_FLOAT 4
#define OSD_FIX_RTK_FIX 5
GPS_ModeCharacter
' ' = GPS off
'/' = Free
'D' = Dynamic Position Hold
'M' = Manuell control
'H' = Coming Home -> Target is Home
'm' = Manuell controlled in CH mode
'P' = Position Hold (old mode)
'W' = Waypoint flight
'w' = Waypoint flight, but manual controlled by sticks
'F' = Failsafe-Pos is the target
'-' = no fix