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Flexible design compatible with various communication protocols and setups.
⏲️ TelemetryTask
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 stationessentially 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)
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Callback is a type alias for std::function<void(TelemetryManager&)>
Implementation Details
Example of function execution; real application requires RTOS timer setup.
🔄 MavlinkTranslator
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🚀 Main Class Definition: System Initialization and Task Management
Owner:
Flow Chart
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| Expand |
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| title | Markdown Mermaid Flowchart Code |
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| Code Block |
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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
``` |
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Instances
GroundStationComms GSC: Oversees ground station comms.
MavlinkTranslator MT: MAVLink message and byte stream translator.
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