Difference between revisions of "Messages Format"
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= Paparazzi "PPRZ" standard message for direct serial connection = | =Introduction= | ||
Messages Format and how to use them | |||
=Types= | |||
==Paparazzi "PPRZ" standard message for direct serial connection== | |||
PPRZ-message: ABCxxxxxxxDE | PPRZ-message: ABCxxxxxxxDE | ||
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E PPRZ_CHECKSUM_B (sum[ck_a]) | E PPRZ_CHECKSUM_B (sum[ck_a]) | ||
= XBee API format = | ==XBee API format== | ||
XBee-message: ABCDxxxxxxxE | XBee-message: ABCDxxxxxxxE | ||
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ID is AC_ID for aircraft, 0x100 for ground station | ID is AC_ID for aircraft, 0x100 for ground station | ||
= Telemetry storage format for data logger = | ==Telemetry storage format for data logger== | ||
TLM-message: ABCDEFGHxxxxxxxI | TLM-message: ABCDEFGHxxxxxxxI | ||
Revision as of 08:11, 19 November 2015
Introduction
Messages Format and how to use them
Types
Paparazzi "PPRZ" standard message for direct serial connection
PPRZ-message: ABCxxxxxxxDE
A PPRZ_STX (0x99)
B LENGTH (A->E)
C PPRZ_DATA
0 SENDER_ID
1 MSG_ID
2 MSG_PAYLOAD
. DATA (messages.xml)
D PPRZ_CHECKSUM_A (sum[B->C])
E PPRZ_CHECKSUM_B (sum[ck_a])
XBee API format
XBee-message: ABCDxxxxxxxE
A XBEE_START (0x7E)
B LENGTH_MSB (D->D)
C LENGTH_LSB
D XBEE_PAYLOAD
0 XBEE_TX16 (0x01) / XBEE_RX16 (0x81)
1 FRAME_ID (0) / SRC_ID_MSB
2 DEST_ID_MSB / SRC_ID_LSB
3 DEST_ID_LSB / XBEE_RSSI
4 TX16_OPTIONS (0) / RX16_OPTIONS
5 PPRZ_DATA
0 SENDER_ID
1 MSG_ID
2 MSG_PAYLOAD
. DATA (messages.xml)
E XBEE_CHECKSUM (sum[D->D])
ID is AC_ID for aircraft, 0x100 for ground station
Telemetry storage format for data logger
TLM-message: ABCDEFGHxxxxxxxI
A PPRZ_STX (0x99)
B LENGTH (H->H)
C SOURCE (0=uart0, 1=uart1, 2=i2c0, ...)
D TIMESTAMP_LSB (100 microsecond raster)
E TIMESTAMP
F TIMESTAMP
G TIMESTAMP_MSB
H PPRZ_DATA
0 SENDER_ID
1 MSG_ID
2 MSG_PAYLOAD
. DATA (messages.xml)
I CHECKSUM (sum[B->H])