Exchanged data

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, with respects to the aircraft’s body frame

  • 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)