[Draft] 2022 Data link protocol

Protocol (metadata) Requirements:

• time epoch or actual time?

• CRC (crc8, or sketchy literal checksum that xbee already uses)

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

Protocol Definition:

• time [uint32]

• payload type [uint8]

  • 01 for gps/imu/motor outputs

  • 02 for adding waypoints

  • 03 for drone specific

  • etc

• payload

• CRC [uint8]

  • 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

Air-Ground Payload (this is common for all comps, all UAVs, etc)

• GPS Data

  • lat [float]

  • long [float]

  • altitude [float]

• IMU Data

  • yaw [float]

  • pitch [float]

  • roll [float]

• motor outputs

  • 12 outputs [uint8]

Air-Ground Payload (drone/comp specific things)

• Grabber Status [uint8]

• other?

Ground-Air Payload

• Add/Replace (whether to add these waypoints, or replace the existing waypoints) [uint8/bool]

• Fixed length of Waypoints of lets say 5

  • lat [float]

  • long [float]

  • altitude [float]