General protocol description: [[en/SerialProtocol]]
<<BR>><<BR>>
The structs used below are defined in [[http://mikrokopter.de/mikrosvn/FlightCtrl/tags/V0.84a/uart.h|uart.h]]. For implementation details, see [[http://mikrokopter.de/mikrosvn/FlightCtrl/tags/V0.84a/uart.c|uart.c]]. 

Addresses are defined as follows:

<<BR>> Here you find some of the structs and defines used for serial commands: <<Navigation(children)>>

<<BR>><<BR>>

----
Address used for communication:

{{{#!cplusplus
#define FC_ADDRESS      1  //(b)
#define NC_ADDRESS      2  //(c)
#define MK3MAG_ADDRESS  3  //(d)
#define BL_CTRL_ADDRESS 5  //(f)
}}}
== Common Commands ==
||<tablewidth="" tablestyle="text-align:center;  "#cccccc>             ||||||<#cccccc style="text-align:center;  ">'''''Received '''''''' ''' ||||||<#cccccc style="text-align:center;  ">'''''Sent '''''''' ''' ||
||<#cccccc>'''''Description''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''remark''''' ||
||Labels of the analog values in the Debug Data Struct (see 'd') ||'a' ||!AnyAddr ||u8 Index of Analog Channel ||'A' ||!SlaveAddr ||u8 Index, char[16] label text ||
||ExternControl ||'b' ||!AnyAddr ||ExternControl Struct ||'B' ||!SlaveAddr ||unsigned char, echo of !ExternalControl.Frame as confirmation || Strcture changed since 2.13 ||
||Request display ||'h' ||!AnyAddr ||u8 ~!RemoteKey, u8 !AutoSendInterval ||'H' ||!SlaveAddr ||char[80] !DisplayText ||
||Request display ||'l' ||!AnyAddr ||u8 !MenuItem ||'L' ||!SlaveAddr ||u8 !MenuItem, u8 !MaxMenuItem, char[80] Display Text ||
||Version Request ||'v' ||!AnyAddr ||none ||'V' ||!SlaveAddr ||[[en/SerialCommands/VersionStruct|VersionStruct]] ||
||Debug Request ||'d' ||!AnyAddr ||u8 !AutoSendInterval<<BR>> Value is multiplied by 10 in receiver and then used as milliseconds. Subsciption needs to be renewed every 4s. <<BR>>These values can be display in MK-Tool as values or graphs. ||'D' ||!SlaveAddr ||[[en/SerialCommands/DebugOutStruct|DebugOutStruct]] ||
||Serial Poti ||'y' ||FC-Addr ||s8 Poti[12] ||- ||- ||- ||since 2.13 accepted by NC||
||Get External Control ||'g' ||!AnyAddr ||none ||'G' ||!SlaveAddr ||!ExternControl Struct ||since 2.13 accepted by NC||
||Read PPM Channels ||'p' ||FC-Addr ||none ||'P' ||FC-Addr ||s16 PPM-Array[11] ||since 2.13 accepted by NC||
||Reset ||'R' ||!AnyAddr ||none ||- ||- ||- ||

== Flight-Ctrl ==
||<tablewidth="" tablestyle="text-align:center;  "#cccccc>             ||||||<#cccccc style="text-align:center;  ">'''''Received by FC '''''''' ''' ||||||<#cccccc style="text-align:center;  ">'''''Sent by FC '''''''' ''' ||<#cccccc>             ||
||<#cccccc>'''''Description''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''since FC Firmware''''' ||
||Compass Heading ||'K' ||FC-Addr ||s16 Compass Value ||'k' ||MK3MAG-Addr ||Nick Roll Attitude ... ||0.71f ||
||Engine Test ||'t' ||FC-Addr ||u8[16] values for the engines ||'T' ||FC-Addr ||- ||0.71f ||
||Settings Request ||'q' ||FC-Addr ||u8 Settings Index ( 1..5 READ or 0xff for actual setting) <<BR>> u8 Settings Index (11..15 RESET setting to default (channel mapping will not be changed))<<BR>> u8 Settings Index (21..25 RESET setting to default (complete reset including channel settings)) ||'Q' ||FC-Addr ||u8 Settings Index, u8 Settings Version, [[en/SerialCommands/ParamsetStruct|ParamsetStruct]] ||0.71f ||
||Write Settings ||'s' ||FC-Addr ||u8 Settings Index, u8 Settings Version, [[en/SerialCommands/ParamsetStruct|ParamsetStruct]] ||'S' ||FC-Addr ||u8 Settings Index (1 ..5, 0=Error) ||0.71f ||
||Read PPM Channels ||'p' ||FC-Addr ||none ||'P' ||FC-Addr ||s16 PPM-Array[11] ||0.71f ||
||get External Control ||'g' ||FC-Addr ||none ||'G' ||FC-Addr ||ExternControl Struct ||0.71f ||
||Set 3D-Data Interval ||'c' ||!AnyAddr ||u8 Interval ||'C' ||FC-Addr ||struct Data3D ||0.72p ||
||Mixer Request ||'n' ||FC-Addr ||none ||'N' ||FC-Addr ||u8 !MixerRevision, u8 Name[12], u8 MixerTable[16][4] ||0.73 ||
||Mixer Write ||'m' ||FC-Addr ||u8 !MixerRevision, u8 Name[12], u8 MixerTable[16][4] ||'M' ||FC-Addr ||u8 ack (1 = okay, 0 = error) ||0.73 ||
||Change setting ||'f' ||FC-Addr ||u8 Number of new Setting ||'F' ||FC-Addr ||u8 Number ||0.77 ||
||Serial Poti ||'y' ||FC-Addr ||s8 Poti[12] ||- ||- ||- ||0.77 ||
||BL parameter request ||'u' ||FC-Addr ||u8 BL_Addr ||'U' ||FC-Addr ||u8 Status1, u8 Status2, u8 BL_Addr, BLConfig Struct ||0.80 ||
||BL parameter write ||'w' ||FC-Addr ||u8 BL_Addr, BLConfig Struct ||'W' ||FC-Addr ||u8Status1, u8 Status2 ||0.80 ||


== Navi-Ctrl ==
||<tablewidth="" tablestyle="text-align:center;  "#cccccc>             ||||||<#cccccc style="text-align:center;  ">'''''Received by NC '''''''' ''' ||||||<#cccccc style="text-align:center;  ">'''''Sent by NC '''''''' ''' ||<#cccccc>             ||
||<#cccccc>'''''Description''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''since NC Firmware''''' ||
||<style="text-align:center;">Serial Link Test ||<style="text-align:center;">'z' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">u16 !EchoPattern ||<style="text-align:center;">'Z' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">u16 !EchoPattern ||<style="text-align:center;">0.14f ||
||<style="text-align:center;">Error Text Request ||<style="text-align:center;">'e' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">none ||<style="text-align:center;">'E' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">char[] Error Message String ||<style="text-align:center;">0.12h ||
||<style="text-align:center;">Send target Position ||<style="text-align:center;">'s' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">[[en/SerialCommands/WayPointStruct|WayPointStruct]] ||<style="text-align:center;">- ||<style="text-align:center;">- ||<style="text-align:center;">- ||<style="text-align:center;">0.12h ||
||<style="text-align:center;">Send Waypoint ||<style="text-align:center;">'w' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">[[en/SerialCommands/WayPointStruct|WayPointStruct]] (sending an invalid position will clear the WPList) ||<style="text-align:center;">'W' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">u8 Number of WPs ||<style="text-align:center;">0.12h ||
||<style="text-align:center;">Request Waypoint ||<style="text-align:center;">'x' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">u8 WP-Index ||<style="text-align:center;">'X' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">u8 Number of WPs, u8 WP-Index, [[en/SerialCommands/WayPointStruct|WayPointStruct]] ||<style="text-align:center;">0.14f ||
||<style="text-align:center;">Request OSD-Data (old)||<style="text-align:center;">'o' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">1 byte sending interval ( in 10ms steps ) ||<style="text-align:center;">'O' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">[[en/SerialCommands/NaviDataStruct|NaviDataStruct_V1]] ||<style="text-align:center;">0.12h ||
||<style="text-align:center;">Request OSD-Data (new) ||<style="text-align:center;">'o' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">1 byte sending interval ( in 10ms steps ) <<BR>>2 bytes -> max bytes per second (i.e.1024) byteorder:  Hi, Lo ||<style="text-align:center;">'O' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;"> [[en/SerialCommands/NaviDataStruct_V2|NaviDataStruct_V2]] ||<style="text-align:center;">2.10a ||
||<style="text-align:center;">Redirect UART ||<style="text-align:center;">'u' ||<style="text-align:center;">NC-Addr ||<style="text-align:center;">1 byte param for uart selector (0=FC, 1=MK3MAG, 2=MKGPS), can be switched back to NC debug by sending the magic packet "0x1B,0x1B,0x55,0xAA,0x00" ||<style="text-align:center;">- ||<style="text-align:center;">- ||<style="text-align:center;">- ||<style="text-align:center;">0.12h ||
||Set 3D-Data Interval ||'c' ||!AnyAddr ||u8 Interval ||'C' ||NC-Addr ||struct Data3D ||0.14a ||
||Set/get NC-Parameter ||'j' ||NC-Addr ||u8 get(=0)/set(=1),u8 parameterId, s16 value (only when set) ||'J' ||NC_Addr ||u8 parameterId, s16 value ||0.20 ||
||BL Ctrl Status ||'k' ||!AnyAddr ||u8 Interval ||'K' ||!SlaveAddr ||[[en/SerialCommands/BLDataStruct|BLDataStruct]] ||
||SystemTime ||'t' ||NC-Addr ||u8 Interval ||'T' ||NC-Addr ||struct DateTime_t (from timer1.h) ||0.31 ||
||Store WP-List to SD ||'i' ||NC-Addr ||struct WPL_Store_t ||'I' ||NC-Addr ||struct WPL_Answer_t ||2.06 ||

== MK3-MAG ==
||<tablewidth="" tablestyle="text-align:center;  "#cccccc>             ||||||<#cccccc style="text-align:center;  ">'''''Received by MK3-MAG '''''''' ''' ||||||<#cccccc style="text-align:center;  ">'''''Sent by MK3-MAG '''''''' ''' ||<#cccccc>             ||
||<#cccccc>'''''Description''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''ID''''' ||<#cccccc>'''''Address''''' ||<#cccccc>'''''Data''''' ||<#cccccc>'''''since MK3-MAG Firmware''''' ||
||<style="text-align:center;">Heading Request ||<style="text-align:center;">'w' ||<style="text-align:center;">MK3MAG-Addr ||<style="text-align:center;">Attitude (s16 Nick, s16 Roll, u8 Param1, u8 Param2, u8 !CalcState, u8 Orientation) ||<style="text-align:center;">'K' ||<style="text-align:center;">FC-Addr ||<style="text-align:center;">s16 Heading ||<style="text-align:center;">since beginning ||


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