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 STD32 timer interrupts for periodic callbacks, essential for consistent data dispatch to the ground station. This is just a way to abstract the process of creating a timer interrupt on the STM32 board. This method will be used to generate timer interrupts to schedule regular data transmissions to the ground station.

Method Signature

void registerTimerInterrupt(int timeIntervalMs, void (*function)())

Parameters

• timeIntervalMs: The timer interval in milliseconds.

• function: The callback function.

Implementation Details

Example of function execution; real application requires STM32 timer setup.

This is essentially a wrapper for a FreeRTOS task that allows us to use a lambda function with access to the TM instance as a FreeRTOS task.

Constructor Signature

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

Parameters

• taskName: The RTOS task name

• stackSize: Task stack size.

• uxPriority: Task priority.

• tm: Reference to telemetry manager instance.

• cbLambda: The callback function.

Note

Callback is a type alias for std::function<void(TelemetryManager&)>

Implementation Details

🔄 MavlinkTranslator

Owner: Yarema Dzulynsky

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🚀 Main Class Definition: System Initialization and Task Management

Owner:

Flow Chart

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Expand
title Markdown Mermaid Flowchart Code
Code Block Telemetry Manager Setup ```mermaid flowchart TB TMConstructor("Create TelemetryManager Instance") MTConstructor("Create MavlinkTranslator Instance") GSCConstructor("Create GroundStationCommunication Instance") defineCallbacks["Define routineDataTransmission Task Callback"] GSCDefine("create DMAReceiveBuffer, lowPriorityTransmitBuffer, highPriorityTransmitBuffer") End("End") TMConstructor --> MTConstructor TMConstructor --> GSCConstructor MTConstructor --> defineCallbacks GSCConstructor --> defineCallbacks GSCConstructor --> GSCDefine defineCallbacks --> End ``` Telemetry Manager Operation ```mermaid flowchart TB %% TELEMETRY MANAGER %% Routine Data Transmission Functionality routineDataTransmission("RTOS Task: routineDataTransmission") ingestStateData["Ingest drone state data and convert to Mavlink bytes"] packHPBuffer["Pack drone state data (Mavlink bytes) into GSC.highPriorityTransmitBuffer"] transmitStateData["Transmit GSC.highPriorityTransmitBuffer contents via GSC.transmit()"] RTOSDelay["RTOS delay: 500ms"] routineDataTransmission --> ingestStateData ingestStateData --> packHPBuffer packHPBuffer --> transmitStateData transmitStateData --> RTOSDelay RTOSDelay --> ingestStateData %% DMA Receive Functionality DMAInterrupt("RFD900 Interrupt: receiveInterruptServiceRoutine") receiveData["Receive data"] checkBufferSpace{"GSC.DMAReceiveBuffer enough space?"} addDataToBuffer["Add new data to GSC.DMAReceiveBuffer"] discardData["Discard new data"] DMAInterruptEnd("DMA Interrupt Handler End") DMAInterrupt --> receiveData receiveData --> checkBufferSpace checkBufferSpace --> |Yes| addDataToBuffer checkBufferSpace --> |No| discardData addDataToBuffer --> DMAInterruptEnd discardData --> DMAInterruptEnd %% Loop Update Functionality loopUpdate("SM Managed: update") translateMavlink["Translate Mavlink bytes (to callback actions) from GSC.DMAReceiveBuffer and trigger associated callbakcs"] fillLowPriorityBuffer["Fill GSC.lowPriorityTransmitBuffer"] transmitLowPriorityBuffer["Transmit GSC.lowPriorityTransmitBuffer"] loopUpdate --> translateMavlink translateMavlink --> fillLowPriorityBuffer fillLowPriorityBuffer --> transmitLowPriorityBuffer transmitLowPriorityBuffer --> |SM Managed Delay| translateMavlink ```

Instances

• GroundStationComms GSC: Oversees ground station comms.

• MavlinkTranslator MT: MAVLink message and byte stream translator.TimerInterrupt TI: Timer-based task manager.

🌐 Function: init

Description

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• Timer Interrupts: Configured for 500ms and 1000ms operation intervals.

• FreeRTOS Tasks:

  • translateToMavlinkThread: Processes GSC.DMAReceiveBuffer bytes into MAVLink messages.

  • mavlinkToBytesThread: Loads MAVLink bytes into GSC.lowPriorityTransmitBuffer.

• Scheduler: Engages the FreeRTOS scheduler for task oversight.

🗝 Function: getInstance

Description

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• .

🔄 Tasks and ISRs

• translateToMavlinkThread & mavlinkToBytesThread: Converts between MAVLink messages and byte streams for drone-ground station communication.

• TimerISR500ms & TimerISR1000ms: Ensures regular data dispatch from both GSC.lowPriorityTransmitBuffer and GSC.highPriorityTransmitBuffer.

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