Telemetry - Revision history

Cdejong: Added a note that field names in messages.xml are not allowed to contain any spaces

2019-09-25T15:12:03Z

Added a note that field names in messages.xml are not allowed to contain any spaces

← Older revision		Revision as of 09:12, 25 September 2019
Line 61:		Line 61:
	NOTE: Be sure your Paparazzi source and home environment variables are set correctly in your shell [[Installation#Launching_the_Software]])		NOTE: Be sure your Paparazzi source and home environment variables are set correctly in your shell [[Installation#Launching_the_Software]])

	Every field in the output is a variable from Paparazzi. The type must be the type of a variable in your code (ie. look in your code). Add your message along with the frequency to be sent over the messaging bus (AKA telemetry messages).		Every field in the output is a variable from Paparazzi. The field name is not allowed to contain spaces. The type must be the type of a variable in your code (ie. look in your code). Add your message along with the frequency to be sent over the messaging bus (AKA telemetry messages).

	After making the modifications to the messages.xml file, make your paparazzi again (i.e. cd ${PAPARAZZI_HOME} && make) so that your changes to the messages.xml file are reflected in the paparazzi/var/include/messages.h file. This will create a DOWNLINK_SEND_AIRSPEED macro (in ${PAPARAZZI_HOME}/var/include/messages.h). If you do not make paparazzi, this macro will not be created.		After making the modifications to the messages.xml file, make your paparazzi again (i.e. cd ${PAPARAZZI_HOME} && make) so that your changes to the messages.xml file are reflected in the paparazzi/var/include/messages.h file. This will create a DOWNLINK_SEND_AIRSPEED macro (in ${PAPARAZZI_HOME}/var/include/messages.h). If you do not make paparazzi, this macro will not be created.

Lethargi: /* Step 1 */ changed "conf/messages.xml" to "sw/ext/pprzlink/message_definitions/v1.0/messages.xml"

2017-09-15T09:19:50Z

Step 1: changed "conf/messages.xml" to "sw/ext/pprzlink/message_definitions/v1.0/messages.xml"

← Older revision		Revision as of 03:19, 15 September 2017
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	==== Step 1 ====		==== Step 1 ====

	In ~~conf~~/messages.xml add an airspeed message:		In sw/ext/pprzlink/message_definitions/v1.0/messages.xml add an airspeed message:
	{{Box Code\|~~conf~~/messages.xml\|		{{Box Code\|sw/ext/pprzlink/message_definitions/v1.0/messages.xml\|
	<source lang="xml">		<source lang="xml">
	<message name="AIRSPEED" id="54">		<message name="AIRSPEED" id="54">

Lethargi: /* Step 1 */ changed "find_msg_id.out" to "find_free_msg_id.out"

2017-09-15T08:55:57Z

Step 1: changed "find_msg_id.out" to "find_free_msg_id.out"

← Older revision		Revision as of 02:55, 15 September 2017
Line 57:		Line 57:
	Where id="54" has to be unique. To find an new ID to use there is a script file located at ${PAPARAZZI_HOME}/sw/tools/find_free_msg_id.out (yes it is really a script).		Where id="54" has to be unique. To find an new ID to use there is a script file located at ${PAPARAZZI_HOME}/sw/tools/find_free_msg_id.out (yes it is really a script).

	Type: ${PAPARAZZI_SRC}/sw/tools/~~find_msg_id~~.out		Type: ${PAPARAZZI_SRC}/sw/tools/find_free_msg_id.out

	NOTE: Be sure your Paparazzi source and home environment variables are set correctly in your shell [[Installation#Launching_the_Software]])		NOTE: Be sure your Paparazzi source and home environment variables are set correctly in your shell [[Installation#Launching_the_Software]])

Noether at 13:16, 1 June 2016

2016-06-01T13:16:28Z

← Older revision		Revision as of 07:16, 1 June 2016
Line 34:		Line 34:
	}}		}}

	If a [[Modules\|module]] attribute is specified for a message, it will be ~~include~~ in the telemetry only if the corresponding module is loaded.		If a [[Modules\|module]] attribute is specified for a message, it will be included in the telemetry only if the corresponding module is loaded.

	It is even possible to create your own telemetry XML definition. By the time you need that, it is highly likely you are already an advanced paparazzi user and know why you would and how you will.		It is even possible to create your own telemetry XML definition. By the time you need that, it is highly likely you are already an advanced paparazzi user and know why you would and how you will.

Lethargi: /* Add Messages */; changed the section introduction and included the information about making paparazzi again before the changes from messages.xml take effect.

2016-03-15T17:24:41Z

Add Messages: ; changed the section introduction and included the information about making paparazzi again before the changes from messages.xml take effect.

← Older revision		Revision as of 11:24, 15 March 2016
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	===Add Messages===		===Add Messages===

	~~Adding~~ a new ~~sensor~~ to Paparazzi and ~~sending~~ the ~~sensor~~ data to the ground ~~example~~. ~~This~~ example is ~~for adding an airspeed~~ message.		This section provides instructions of an example case of how one would add a new message to Paparazzi and send the data to the ground station. The example is a little old and considers the addition of the AIRSPEED message, which is already present in newer versions of paparazzi. The user will have to implement her own message objects instead of the AIRSPEED message.

	==== Step 1 ====		==== Step 1 ====
Line 63:		Line 63:
	Every field in the output is a variable from Paparazzi. The type must be the type of a variable in your code (ie. look in your code). Add your message along with the frequency to be sent over the messaging bus (AKA telemetry messages).		Every field in the output is a variable from Paparazzi. The type must be the type of a variable in your code (ie. look in your code). Add your message along with the frequency to be sent over the messaging bus (AKA telemetry messages).

	This will create a DOWNLINK_SEND_AIRSPEED macro (in ${PAPARAZZI_HOME}/var/include/messages.h).		After making the modifications to the messages.xml file, make your paparazzi again (i.e. cd ${PAPARAZZI_HOME} && make) so that your changes to the messages.xml file are reflected in the paparazzi/var/include/messages.h file. This will create a DOWNLINK_SEND_AIRSPEED macro (in ${PAPARAZZI_HOME}/var/include/messages.h). If you do not make paparazzi, this macro will not be created.

	==== Step 2 ====		==== Step 2 ====

Flixr: move settings to Settings page

2015-12-05T10:58:18Z

move settings to Settings page

@@ Line 176: / Line 176: @@
 *if_calib_mode = ?
 *mcul_status = ?
 == Audio-based downlink ==

Flixr: update register_periodic_telemetry info

2015-12-05T10:54:17Z

update register_periodic_telemetry info

← Older revision		Revision as of 04:54, 5 December 2015
Line 1:		Line 1:
	== Messages ==		== Messages ==

			Telemetry messages (sent from the aircraft to the ground) are defined in the telemetry class of [https://github.com/paparazzi/paparazzi/blob/master/conf/messages.xml conf/messages.xml].
			See also the generated documentation: http://docs.paparazziuav.org/latest/paparazzi_messages.html

			== Sending periodic messages ==
	The set of periodic messages sent over the downlink channel by an aircraft to the ground station is configurable		The set of periodic messages sent over the downlink channel by an aircraft to the ground station is configurable
	with the help of one XML file, located in the <tt>conf/telemetry</tt> directory. This file is ~~called~~ by <tt>conf/conf.xml</tt> and must follow the		with the help of one XML file, located in the <tt>conf/telemetry</tt> directory. This file is referenced by <tt>conf/conf.xml</tt> and must follow the
	<tt>telemetry.dtd</tt> syntax. The <tt>fixedwing_default.xml</tt> and <tt>rotorcraft_default.xml</tt>are provided as an example and should be suitable for most users.		<tt>telemetry.dtd</tt> syntax. The <tt>fixedwing_default.xml</tt> and <tt>rotorcraft_default.xml</tt> are provided as an example and should be suitable for most users.
	{{Box Code\|default.xml\|		{{Box Code\|default.xml\|
	<source lang="xml"><!DOCTYPE telemetry SYSTEM "telemetry.dtd">		<source lang="xml"><!DOCTYPE telemetry SYSTEM "telemetry.dtd">
Line 75:		Line 80:
	}}		}}

	The result is a generated file in ${PAPARAZZI_HOME}/var/<AC>/generated/periodic_telemetry.h which consist in a (static) scheduler to that calls specific functions.		The result is a generated file in ${PAPARAZZI_HOME}/var/aircrafts/<AC>/generated/periodic_telemetry.h which consist in a (static) scheduler to that calls specific functions.

	==== Step 3 ====		==== Step 3 ====
Line 86:		Line 91:
	#include "subsystems/datalink/telemetry.h"		#include "subsystems/datalink/telemetry.h"

	static void ~~send_airpseed~~(~~void~~) {		static void send_airspeed(struct transport_tx trans, struct link_device dev)
	~~DOWNLINK_SEND_AIRSPEED~~ (~~DefaultChannel~~, ~~DefaultDevice~~		{
	&~~adc_airspeed_val,~~		pprz_msg_send_AIRSPEED(trans, dev, AC_ID,
	~~stateGetAirspeed_f()~~,		&airspeed, &v_ctl_auto_airspeed_setpoint,
	&v_ctl_auto_airspeed_setpoint,		&v_ctl_auto_airspeed_controlled, &v_ctl_auto_groundspeed_setpoint);
	&v_ctl_auto_airspeed_controlled,
	&v_ctl_auto_groundspeed_setpoint);
	}		}

Line 98:		Line 101:
	void autopilot_init(void) {		void autopilot_init(void) {
	...		...
	register_periodic_telemetry(DefaultPeriodic, ~~"AIRSPEED"~~, send_airspeed);		register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AIRSPEED, send_airspeed);
	...		...
	}		}
	</source>		</source>
	}}		}}
	where the ~~name~~ in the register function (~~second parameter~~) ~~as to match the one in the telemetry xml file~~.		where the second parameter in the register function is the id of the message (use the define <tt>PPRZ_MSG_ID_<MESSAGE_NAME></tt>).

	~~===== Past Reference for Paparazzi v5.0 or older =====~~

			<div class="toccolours mw-collapsible mw-collapsed" style="width:800px">
			Prior to '''v5.0''':
			<div class="mw-collapsible-content">Past Reference for Paparazzi v5.0 or older:
	Create a PERIODIC_SEND_AIRSPEED with the following code in the firmware specific telemetry header file (In ap_downlink.h/fbw_downlink.h for fixedwing or telemetry.h for rotorcraft) :		Create a PERIODIC_SEND_AIRSPEED with the following code in the firmware specific telemetry header file (In ap_downlink.h/fbw_downlink.h for fixedwing or telemetry.h for rotorcraft) :
	{{Box Code\|conf/telemetry/default.xml\|		{{Box Code\|conf/telemetry/default.xml\|
Line 116:		Line 121:
	#endif		#endif
	</source>		</source>
	}}		</div></div>

			===Configuring the Downlink Data Rate===

			The limited throughput of our RF modems results in a need to carefully choose which data to send, as well as the frequency at which to send it. A sophisticated set of files and parameters have been developed in order to tailor the data downlink behavior automatically, manually, temporarily, or permanently according to any desired parameter. This allows the user to create an almost unlimited possibility of downlink configurations. For example:
			* Tailor the data rate to work with very slow modems (9600 baud or slower)
			* Reduce the data rate of some messages so that others can be increased:
			*: Automatically send GPS data at a very high rate by sacrificing navigation data when not flying (to help GPS/RFI troubleshooting) then automatically reduce the GPS data rate and send normal navigation data when the launch is initiated.
			*: Automatically switch to sending only position data upon landing to conserve power and increase the chance of the operator receiving a position packet when recovering a distant aircraft.
			*: Manually send selected sensor data at very high speeds (60Hz) for real time tuning.
			* Maintain independent telemetry configurations for aircraft with different modems, sensors, or mission profiles.

			Any number of configuration files can be created in the <tt>conf/telemetry</tt> directory and selected from the <tt>conf/conf.xml</tt> file. The telemetry downlink is divided into two processes, '''Ap''' and '''Fbw''' each with a possible <tt>mode</tt> option. Any number of modes could be created, the default is the first in the sequence. A mode contains the list of messages to be sent as well as the period of each message in seconds. In this example, the '''ATTITUDE''' message will be sent by the '''Ap''' process at 2Hz in the default mode and at 10Hz in the '''fast attitude''' mode. The maximum allowed frequency is 60Hz (0.017s) and the maximum period is 1092s.

			The mode can be chosen in the airframe file by setting the '''TELEMETRY_MODE_FBW''' constant:
			<source lang="xml"><define name="TELEMETRY_MODE_FBW" value="1"/></source>
			where the (default) first mode is numbered '''0'''.

			This mode can also be changed dynamically with a datalink [[#Settings\|setting]] or with a [[Flight_Plans#set\|set]] stage in the flight plan.

	~~here you tell~~ to ~~replace all PERIODIC_SEND_AIRSPEED by DOWNLINK_SEND_AIRSPEED~~		Note that an (undocumented!) subset of the messages is required to be able to use ground station properly. So it is not advisable to completely remove messages for the '''Ap''' process listed in the default mode.

	===Specific Messages===		==Specific Messages==

	====GPS_SOL====		===GPS_SOL===
	Specification in telemetry file		Specification in telemetry file
	<source lang="xml">		<source lang="xml">
Line 138:		Line 161:
	*numSV = number of Space Vehicles (Satellites) used in Nav Solution		*numSV = number of Space Vehicles (Satellites) used in Nav Solution

	====PPRZ_MODE====		===PPRZ_MODE===
	Specification in telemetry file		Specification in telemetry file
	<source lang="xml">		<source lang="xml">
Line 153:		Line 176:
	*if_calib_mode = ?		*if_calib_mode = ?
	*mcul_status = ?		*mcul_status = ?

	~~===Configuring the Downlink Data Rate===~~

	The limited throughput of our RF modems results in a need to carefully choose which data to send, as well as the frequency at which to send it. A sophisticated set of files and parameters have been developed in order to tailor the data downlink behavior automatically, manually, temporarily, or permanently according to any desired parameter. This allows the user to create an almost unlimited possibility of downlink configurations. For example:
	* Tailor the data rate to work with very slow modems (9600 baud or slower)
	* Reduce the data rate of some messages so that others can be increased:
	*: Automatically send GPS data at a very high rate by sacrificing navigation data when not flying (to help GPS/RFI troubleshooting) then automatically reduce the GPS data rate and send normal navigation data when the launch is initiated.
	*: Automatically switch to sending only position data upon landing to conserve power and increase the chance of the operator receiving a position packet when recovering a distant aircraft.
	*: Manually send selected sensor data at very high speeds (60Hz) for real time tuning.
	* Maintain independent telemetry configurations for aircraft with different modems, sensors, or mission profiles.

	Any number of configuration files can be created in the <tt>conf/telemetry</tt> directory and selected from the <tt>conf/conf.xml</tt> file. The telemetry downlink is divided into two processes, '''Ap''' and '''Fbw''' each with a possible <tt>mode</tt> option. Any number of modes could be created, the default is the first in the sequence. A mode contains the list of messages to be sent as well as the period of each message in seconds. In this example, the '''ATTITUDE''' message will be sent by the '''Ap''' process at 2Hz in the default mode and at 10Hz in the '''fast attitude''' mode. The maximum allowed frequency is 60Hz (0.017s) and the maximum period is 1092s.

	~~The mode can be chosen in the airframe file by setting the '''TELEMETRY_MODE_FBW''' constant:~~
	~~<source lang="xml"><define name="TELEMETRY_MODE_FBW" value="1"/></source>~~
	~~where the (default) first mode is numbered '''0'''.~~

	~~This mode can also be changed dynamically with a datalink [[#Settings\|setting]] or with a [[Flight_Plans#set\|set]] stage in the flight plan.~~

	Note that an (undocumented!) subset of the messages is required to be able to use ground station properly. So it is not advisable to completely remove messages for the '''Ap''' process listed in the default mode.

	== Settings ==		== Settings ==

Openuas at 00:03, 24 November 2015

2015-11-24T00:03:37Z

@@ Line 77: / Line 77: @@
 The result is a generated file in ${PAPARAZZI_HOME}/var/<AC>/generated/periodic_telemetry.h which consist in a (static) scheduler to that calls specific functions.
-==== Step 3 (older version of paparazzi (<= 5.0)) ====
+==== Step 3 ====
 Create a function in your C source file that will send your message(s) (using the generated DOWNLINK_SEND_* macros) and register it to the telemetry system so that it will be send automatically for you. You also need to include the header <tt>subsystems/datalink/telemetry.h</tt>:
@@ Line 119: / Line 104: @@
 }}
 where the name in the register function (second parameter) as to match the one in the telemetry xml file.
 ===Specific Messages===

Openuas: /* Step 3 (since v5.1_devel-635-gcc9e085) */

2014-01-23T16:53:30Z

Step 3 (since v5.1_devel-635-gcc9e085)

← Older revision		Revision as of 10:53, 23 January 2014
Line 94:		Line 94:
	==== Step 3 (since v5.1_devel-635-gcc9e085) ====		==== Step 3 (since v5.1_devel-635-gcc9e085) ====

	Create a function in your c file that will send your message(s) (using the generated DOWNLINK_SEND_* macros) and register it to the telemetry system so that it will be send automatically for you. You also need to include the header <tt>subsystems/datalink/telemetry.h</tt>:		Create a function in your C source file that will send your message(s) (using the generated DOWNLINK_SEND_* macros) and register it to the telemetry system so that it will be send automatically for you. You also need to include the header <tt>subsystems/datalink/telemetry.h</tt>:
	{{Box Code\|firmware/fixedwing/autopilot.c\|		{{Box Code\|firmware/fixedwing/autopilot.c\|

	<source lang="c">		<source lang="c">
			...
	#include "subsystems/datalink/telemetry.h"		#include "subsystems/datalink/telemetry.h"

Openuas: /* Step 2 */

2014-01-23T16:51:37Z

Step 2

← Older revision		Revision as of 10:51, 23 January 2014
Line 62:		Line 62:
	==== Step 2 ====		==== Step 2 ====

	Add a message to your telemetry file (for example conf/telemetry/~~default~~.xml). The message name in telemetry file usually match the message name in messages.xml file, but can be different or even group several messages.		Add a message to your telemetry file (for example conf/telemetry/default_fixedwing.xml). The message name in telemetry file usually match the message name in messages.xml file, but can be different or even group several messages.
	{{Box Code\|conf/telemetry/default.xml\|		{{Box Code\|conf/telemetry/default.xml\|
	<source lang="xml">		<source lang="xml">