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  • Information we need in every message

  • State Report Msg

  • PID

  • flight mode (takeoff, landing, is landed, following waypoints, etc.)

  • battery charge

  • CV info wanted

    Electrical info wanted

  • Firmware info wanted

  • state of the telemetry, path manager waypoints, and attitude manager state
    • Timestamp (HHMMSS)

  • Odometry Msg

    • speed

    • coordinates in relation to the starting point? (starting point/home is (0,0) and everything is relative)

  • Telemetry Msg

    • sensor data (IMU, GPS, etc)

    • path manager waypoints

    • GPS coordinates

    • Target vs actual/current values of altimeter, RPM, Euler angles, etc.

    • sensor highest frequency, path manager lowest frequency. at which rate do we publish

    • path manager - midpoint update?

    • separate files?