Page Comparison

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Achieve transmission of GLOBAL_POSITION_INT & ATTITUDE MAVLink messages from the drone to the ground control station (Mission Planner) via RFD 900 radio. Any missing sensor data will be filled with sample data at this time.

🛠️ 3. Class Definitions

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GroundStationCommunication

Owner: Roni Kant

Description

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• DMAReceiveBuffer: CircularBuffer - Stores incoming data.

• lowPriorityTransmitBuffer: CircularBuffer - For low-priority data dispatch.

• highPriorityTransmitBuffer: CircularBuffer - For high-priority routine data dispatch.

Methods

• sendToGroundStationtransmit(CircularBuffer &transmissionBuffer): Sends data to the ground station.

• receiveFromGroundStationISR(): ISR for incoming data, discards if DMAReceiveBuffer is full.

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Flexible design compatible with various communication protocols and setups.

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TelemetryTask

Owner: Rahul Ramkumar

Description

Facilitates RTOS timer interrupts for periodic callbacks, essential for consistent data dispatch to the ground station. This is a way to abstract the process of creating an RTOS timer interrupt and allow us to have access to the telemetry manager instance within the callback. This method will be used to generate timer interrupts to schedule regular data transmissions to the ground station.

Constructor Signature

TimerInterruptTelemetryTask(const char* taskName, int stackSize, UBaseType_t uxPriority,
TickType_t intervalMs, TelemetryManager& tm, Callback cbLambda)

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• taskName: The RTOS task name

• stackSize: Task stack size.

• uxPriority: Task priority.intervalMs: Callback interval.

• tm: Reference to telemetry manager instance.

• cbLambda: The callback function.

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