Refer to Logging Research for a starting point (and necessary data) courtesy of Gordan
Brainstorm
Information we always need in every message
Timestamp
uint32 seconds + uint32 nanoseconds
range for seconds: 0 - infinity
range for nanoseconds: 0 - 10^9
state of the telemetry, path manager waypoints, and attitude manager state
Error codes (int32)
Odometry
speed
coordinates in relation to the starting point? (starting point/home is (0,0) and everything is relative)
Telemetry
sensor data (IMU, GPS, etc)
path manager waypoints
GPS coordinates
Target vs actual/current values of altimeter, RPM, Euler angles, etc.
State Report
PID
flight mode (takeoff, landing, is landed, following waypoints, etc.)
battery charge
CV info wanted
Electrical info wanted
Firmware info wanted
sensor data (IMU, GPS, etc)state of the telemetry, path manager waypoints, and attitude manager state