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Below is a list of all the data that is exchanged between the ground station and the aircraft.

Pigo (plane in ground out)

  • CVGpsCoordinatesOfLandingSpot

    • latitude (4 byte int)

    • longitude (4 byte int)

    • altitude (4 byte int)

    • direction of landing (4 byte float)

  • groundCommands

    • heading (4 byte float)

    • latestDistance (4 byte float)

  • gimbalCommands, radians

    • pitch (4 byte float)

    • yaw (4 byte float)

  • beginLanding (1 byte bool)

  • beginTakeoff (1 byte bool)

  • numWaypoints (4 byte int)

  • waypointModifyFlightPathCommand (1 byte uint8_t)

  • waypointNextDirectionsCommand (1 byte uint8_t)

  • initializingHomeBase (1 byte bool)

  • holdingAltitude (4 byte int)

  • holdingTurnRadius (4 byte int)

  • holdingTurnDirection (1 byte uint8_t)

  • flightPathModifyNextId (4 byte int)

  • flightPathModifyPrevId (4 byte int)

  • flightPathModifyId (4 byte int)

  • waypoints (array of size numWaypoints)

    • latitude (4 byte int)

    • longitude (4 byte int)

    • altitude (4 byte int)

    • turnRadius (4 byte float)

    • waypointType (1 byte uint8_t)

  • homebase

    • latitude (4 byte int)

    • longitude (4 byte int)

    • altitude (4 byte int)

    • turnRadius (4 byte float)

    • waypointType (1 byte uint8_t)


Pogi (plane out ground in)

  • errorCode (1 byte uint8_t)

  • timestampOfMeasurements, milliseconds since 00:00 in UTC time (4 byte int32_t)

  • gpsCoordinates

    • latitude (8 byte double)

    • longitude ( 8 byte double)

    • altitude ( 8 byte double)

  • currentAirspeed (4 byte float)

  • eulerAnglesOfPlane ZYX, in radians

    • yaw ( 4 byte float)

    • pitch (4 byte float)

    • roll (4 byte float)

  • eulerAnglesOfCamera ZYX, in radians

    • yaw ( 4 byte float)

    • pitch (4 byte float)

    • roll (4 byte float)

  • isLanded

  • editingFlightPathErrorCode (1 byte uint8_t)

  • flightPathFollowingErrorCode (1 byte uint8_t)

  • currentWaypointId (4 byte int)

  • currentWaypointIndex (4 byte int)

  • homeBaseInitialized (1 byte bool)


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