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• Forwarding data between Ardupilot ↔︎ Raspberry Pi over SPI & UART. Exact specifics TBD

  • SPI is for LTE connectivity

  • UART is for Autonomy connectivity

• Reporting state of health? (Monitoring cell modem status, monitoring rpi interface voltages etc)

Milestone 1:

• Health Monitoring

• Data forwarding over SPI + UART, no custom encoding.

Raspberry Pi Software

The rpi will need kernel support, or at the very least USB driver support: https://github.com/QuecPython/Quectel_Linux_USB_Serial_Option_Driver

• Must Unpack Spi + custom data encoding

• Will have custom data encoding.

  • This allows us to pack our own health data along with MAVLink.

  • This will be decoded by the rpi on the groundside.

The rest of this is TBD

STM32 Software Architecture

There will be three main threads. One for health monitoring, one for data management, and one for aux cofigurations. Further threads for individual functions may be spawned if desired.

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