ArduPilot Telemetry Protocol
The protocol looks like this in terminal:
!!!LAT:33952600,LON:-117409072,SPD:0.38,CRT:0.00,ALT:0,ALH:0,CRS:185.80,BER:94,WPN:0,DST:25853,BTV:11.84,***
+++ASP:0,THH:85,RLL:26,PCH:-31,STT:2,***
+++ASP:6,THH:85,RLL:27,PCH:-30,STT:2,***
+++ASP:11,THH:85,RLL:27,PCH:-29,STT:2,***
+++ASP:14,THH:77,RLL:28,PCH:-29,STT:2,***
+++ASP:15,THH:72,RLL:28,PCH:-28,STT:2,***
!!!LAT:33952596,LON:-117409072,SPD:0.24,CRT:0.00,ALT:0,ALH:0,CRS:185.57,BER:94,WPN:0,DST:25853,BTV:11.88,***
+++ASP:16,THH:68,RLL:29,PCH:-23,STT:2,***
+++ASP:18,THH:60,RLL:30,PCH:-20,STT:2,***
+++ASP:17,THH:61,RLL:31,PCH:-21,STT:2,***
+++ASP:14,THH:69,RLL:30,PCH:-27,STT:2,***
+++ASP:13,THH:71,RLL:29,PCH:-31,STT:2,***
There's a low rate string at 1hz that start with !!! and the second string is 4hz and starts with +++, both finish with ***.
You need to be able to search for the head of every string like "LAT:", without care of the order, then you read the value after and stop until you reach the comma. In C/C++ are functions that do that for you, if you need an example please read the ardustation source code.
Definitions low rate:
LAT: Latitude
LON: Longitude
SPD: Speed over ground from GPS
CRT: Climb Rate in M/S
ALT: Altitude in meters
ALH: The altitude is trying to hold
CRS: Course over ground in degrees.
BER: Bearing is the heading you want to go
WPN: Waypoint number, where WP0 is home.
DST: Distance from Waypoint
BTV: Battery Voltage.
RSP: Roll setpoint used to debug, (not displayed here).
Definitions high rate:
ASP: Airspeed, right now is the raw data.
TTH: Throttle in 100% the autopilot is applying.
RLL: Roll in degrees + is right - is left
PCH: Pitch in degrees
SST: Switch Status, used for debugging, but is disabled in the current version.
I know the protocol sucks but is very flexible and i can add and remove new strings when ever i want without damaging the parsing of every groundstation. In ArduPilot Mega i will use ONLY binary protocol with Message ID's, Payload Bytes and CheckSums, better/faster/efficient/flexible..
Enjoy!
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Comment by Paul Mather on December 11, 2010 at 8:00pm
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Comment by SciFly on January 3, 2011 at 3:39am -
Unfortunately, i ended up with an ardustation with a couple missing surf mount components. The missing parts are the i2c pullup resistors and a diode (for switch five I beleive).Now, on the schematic, the pullups are indicated as not populated, but on the product pictures I see that they are. Can you confirm on this?This is no big deal, I can easily hand solder them- it willl be a bit difficult given their small size and the fact that I already populated the throughole components, but oh well, the DIY spirit is strong with me!!!. Can you give me the DigiKey or equivalent part numbers [1N4148-XX? , 4.7K-XX??(most importantly the package info) ] or send some along gratis so that I can get the fulll functionality of the board??
thanks!
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Comment by Rich on January 15, 2011 at 2:01pm -
Says this thing has 2 powered servo outputs for steering a directional antenna. How big of servos are we talking about here? As in, how much current can a servo draw from it?
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Comment by Electronics on April 7, 2011 at 8:26am -
Hi all .....
May I ask experts ... In EZ-ground-station we connect the ground station with audio port in VRX (video receiver) to get the GPS data for tracking antenna pointing ...
What is the same line in ARDU-STATION ??
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