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Protocol (metadata) Requirements:

  • time

  • CRC

  • payload type (could stick this in xbee protocol as well, but less organized I guess?)

Protocol Definition:

  • time [uint32]

  • payload type

    • 01 for gps/imu data

    • 02 for adding waypoints

    • 03 for motor outputs

    • etc

  • payload

  • CRC

    • xbees use sums to do crc, THAT CANNOT BE DISABLED, so we must do it regardless

    • Suggest CRC methods that we would prefer over this built in basic sum

Payload requirements

  • GPS Data

    • lat

    • long

  • IMU Data

    • yaw

    • pitch

    • roll

  • motor outputs

    • 12 outputs

  • No labels

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