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 (comes from CV)

  • latitude (4 byte int)

  • longitude (4 byte int)

  • altitude (4 byte int)

  • direction of landing (4 byte float)

     

• groundCommands (Comes from CV)

  • heading (4 byte float)

  • latestDistance (4 byte float)

     

• gimbalCommands, radians, with respects to the aircraft’s body frame (Comes from CV)

  • pitch (4 byte float)

  • yaw (4 byte float)

     

• beginLanding (1 byte bool) (Comes from CV)

• beginTakeoff (1 byte bool) (Comes from CV)

• numWaypoints (4 byte int) (Comes from Pilot on the ground)

• waypointModifyFlightPathCommand (1 byte uint8_t) (Comes from Pilot on the ground)

  • enum: { NO_FLIGHT_PATH_EDIT = 0, INITIALIZE_FLIGHT_PATH, APPEND, INSERT, UPDATE, DELETE, NUKE }

• waypointNextDirectionsCommand (1 byte uint8_t) (Comes from Pilot on the ground)

  • enum: { REGULAR_PATH_FOLLOWING = 0, TOGGLE_HOLDING, TOGGLE_HEAD_HOME }

• initializingHomeBase (1 byte bool) (Comes from Pilot on the ground)

• holdingAltitude (4 byte int) (Comes from Pilot on the ground)

• holdingTurnRadius (4 byte int) (Comes from Pilot on the ground)

• holdingTurnDirection (1 byte uint8_t) (Comes from Pilot on the ground)

  • enum: { CLOCKWISE = 0, COUNTER_CLOCKWISE }

• flightPathModifyNextId (4 byte int) (Comes from Pilot on the ground)

• flightPathModifyPrevId (4 byte int) (Comes from Pilot on the ground)

• flightPathModifyId (4 byte int) (Comes from Pilot on the ground)

• waypoints (array of size numWaypoints) (Comes from Pilot on the ground)

  • latitude (4 byte int)

  • longitude (4 byte int)

  • altitude (4 byte int)

  • turnRadius (4 byte float)

  • waypointType (1 byte uint8_t)

    • enum: { PATH_FOLLOW = 0, ORBIT, HOLD}

• homebase (Comes from Pilot on the ground)

  • latitude (4 byte int)

  • longitude (4 byte int)

  • altitude (4 byte int)

  • turnRadius (4 byte float)

  • waypointType (1 byte uint8_t)

    • enum: { PATH_FOLLOW = 0, ORBIT, HOLD}

Pogi (plane out ground in)

• errorCode (1 byte uint8_t) (Goes to Pilot on the ground)

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

• gpsCoordinates (goes to CV)

  • latitude (8 byte double)

  • longitude ( 8 byte double)

  • altitude ( 8 byte double)

     

• currentAirspeed (4 byte float) (goes to CV)

   

• eulerAnglesOfPlane ZYX, in radians (goes to CV)

  • yaw ( 4 byte float)

  • pitch (4 byte float)

  • roll (4 byte float)

     

• eulerAnglesOfCamera ZYX, in radians (goes to CV)

  • yaw ( 4 byte float)

  • pitch (4 byte float)

  • roll (4 byte float)

   

• isLanded (goes to CV)

• editingFlightPathErrorCode (1 byte uint8_t) (Goes to Pilot on the ground)

• flightPathFollowingErrorCode (1 byte uint8_t) (Goes to Pilot on the ground)

• currentWaypointId (4 byte int) (Goes to Pilot on the ground)

• currentWaypointIndex (4 byte int) (Goes to Pilot on the ground)

• homeBaseInitialized (1 byte bool) (Goes to Pilot on the ground)