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Table of Contents
Warranty, Liability, and Lawful Use ........................................................................................................ 1 GCS Communication Protocol................................................................................................................ 2 GCS Port Protocol .............................................................................................................................. 2 AutoPilot Telemetry Packet................................................................................................................. 3 Mode/State Parameter .................................................................................................................... 4 Mode Parameter Values.................................................................................................................. 4 State Parameter Values .................................................................................................................. 4 Beginning of Message (BOM) Detection and End of Message (EOM) Event .................................... 5 GCS Command Set ............................................................................................................................ 6 NOP................................................................................................................................................. 7 Fix Quality........................................................................................................................................ 7 Warning for Airspeed/Altitude.......................................................................................................... 8 Checksum........................................................................................................................................ 8 Link Timeout .................................................................................................................................... 9 Set Servo Commands ..................................................................................................................... 9 Mode Control....................................................................................................................................... 9 Mode Command Table.................................................................................................................... 9 Mode Control Decision Table ........................................................................................................ 10 Link Failure Behavior ........................................................................................................................ 10 AP50 GCS Port / Wireless Modem Connection diagram ................................................................. 11 GCS Adapter card ......................................................................................................................... 12 Change Notes ................................................................................................................................... 13 Support.............................................................................................................................................. 14 Manual Revision ...............................................................................................................................14
UAV Flight Systems warrants its products against defects in material or workmanship for one (1) year from the original date of purchase. Failed products will be repaired or replaced, at UAV Flight Systems' discretion, during this period when returned undamaged and in original condition. UAV Flight Systems makes no warranty, representation or guarantee regarding the safety or suitability of its products for any given purpose; nor does UAV Flight Systems assume any liability arising from the use or application of any of its products and specifically disclaims any and all consequential and incidental damages. Purchasers and users assume all risk, responsibility and liability for use of these products, including any resulting loss or damage to persons or property. If the purchaser is not satisfied with any UAV Flight Systems product, it may be returned undamaged and in original condition within 30 days of purchase for a full refund (less shipping costs, and any taxes or fees imposed upon the user). Determination of condition is at the sole discretion of UAV Flight Systems. The purchaser or user assumes the responsibility for knowing and obeying all laws and regulations applicable in his/her jurisdiction, including any aviation and telecommunication regulations in the country of operation which may apply [e.g. by the Federal Aviation Administration (FAA) and the Federal Communications Commission (FCC) in the USA.]
This document covers GCS (Ground Control Station) communication protocol for UAV Flight Systems AutoPilots (currently AP50 only). All references to AutoPilot refer specifically to the AP50. The purpose of the manual is to document the GCS interface for the user that desires to develop a custom ground control station. It also gives technical users a more detailed understanding of the various control and monitoring capabilities of UAV Flight Systems AutoPilots. UAV Flight Systems offers a ground control station product called GroundPilot tm. More information can be found on our website ( www.uavflight.com ) Note: The AP50 AutoPilot uses the Metric System for distance and speed. All distance units are in meters, and speed units in kilometers per hour (kph, km/hr), unless otherwise noted
Parameter Time Mode/State Airspeed Ground speed Desired speed Altitude Desired altitude Track Desired track Roll Desired roll Turn rate DTR Pitch Desired pitch Waypoint LOP Heading Distance to WP Latitude Longitude Return heading Return distance Aileron Elevator Throttle Rudder Fix Quality Checksum
Size Byte Byte Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Byte Integer Integer Integer Long Long Integer Integer Byte Byte Byte Byte Byte Byte
Units GPS seconds 0 - 4 / 1 - 6 (see Mode/State Parameter section) Kilometers per hour Kilometers per hour Kilometers per hour Meters Meters Degrees Degrees Degrees Degrees Degrees/second Degrees/second Degrees Degrees Next WP number Line of Position, degrees true Current heading, degrees true Meters/100, e.g. 12,345 m is expressed as 123 Milliarcseconds Milliarcseconds Degrees Meters/100, e.g. 12,345 m is expressed as 123
Count 1 2 3-4 5-6 7-8 9-10 11-12 13-14 15-16 17-18 19-20 21-22 23-24 25-26 27-28 29 30-31 32-33 34-35 36-39 40-43 44-45 46-47 48 49 50 51
Stat x x x x x
52 53
- implemented and tested x not implemented, reads as zero (Note that the data items roll, desired roll, desired turn rate, pitch and desired pitch are not currently implemented.) There are a total of 54 bytes in this message: 1 byte message header (Command 3D, Telemetry see GCS Command Set table) 52 bytes of message data 1 byte checksum
Mode/State Parameter
The Mode/State parameter returns two AutoPilot values that are combined into a single byte. The Mode is represented by the lower 4 bits of the byte, and the State is represented by the upper 4 bits of the byte. Parameter Bit number 7 State 6 5 4 3 Mode 2 1 0
Note: If the GCS sends a command to the AutoPilot which elicits a response, the response to the command will be sent, followed immediately by the AutoPilot Telemetry Packet. This means that there will be two messages in the input buffer.
x x x x x x x x x
Set S1 Set S2 Set S3 Set S4 Set S5 Set S6 Set S7 Set S8 Set S124 Set S78 Set C123
Set S1 position (Aileron) Set S2 position (Elevator) Set S3 position (Throttle) Set S4 position (Rudder) Set S5 position (Flaps) Set S6 position (Mission1) Set S7 position (Mission2) Set S8 position (Mission3) Set servos S1, 2, & 4 Set servos S7, 8 Set Control Lines 1, 2, 3
byte byte byte byte byte byte byte byte 3 bytes 2 bytes byte
21, New S1 (byte), csum 22, New S2 (byte), csum 23, New S3 (byte), csum 24, New S4 (byte), csum 25, New S5 (byte), csum 26, New S6 (byte), csum 27, New S7 (byte), csum 28, New S8 (byte), csum 29, New S1, S2, S4 (3 bytes), csum 2A, New S7, S8 (2 bytes), csum 2B, New C1, C2, C3 (byte), csum
Cmd 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F
Argument byte
Response [cmd, data (length), csum] 30, New link timeout (byte), csum
Stat
Check if GCS enabled AutoPilot Telemetry packet Problem with message sent to AutoPilot No operation
3C, support level (byte), csum 3D, 52-byte data packet, csum 3E, error type (byte), csum 3F, none, csum
Note 1: All messages, either to or from the AutoPilot, consist of a message type byte (cmd), zero or more bytes of data, and a one-byte additive checksum (csum in table). Note 2: An Integer is 2 bytes in length, long is 4 bytes in length Note 3: Commands 17, 18 (desired lat/lon) return lat/lon for current waypoint (the waypoint to which the AutoPilot is navigating) Note 4: Message types 3D and 3E are sent by the AutoPilot to the GCS, not to the AutoPilot by the GCS. If the either of these two messages were to be sent from the GCS, an error (bad type) message (3E, 2, 40) will be the response from the AutoPilot. Note 5: Commands 13, 14 (reading analog inputs) apply to the AP50 AutoPilot only. Status:
implemented and tested x implemented and not tested, or currently being tested
NOP
Message 3F, NOP, is intended to reset the failed link counter onboard the AutoPilot. The AutoPilot will monitor the time between messages from the GCS. If a preprogrammed time is exceeded, the AutoPilot will revert to UAV mode.
Fix Quality
Command 1B (Read fix quality) returns argument shown. Fix Quality No fix 2D fix 3D fix Argument 0 1 2
Checksum
Commands sent to the AutoPilot require a one byte checksum that is validated upon receipt of command before the command will be accepted. This byte is the sum or the byte remainder of the result of adding all of the preceding individual bytes of the message. Examples: The command to set desired altitude to 200 meters is: 2 (command) 200 (data); the checksum would be 202. The command to set the desired altitude to 300 meters is: 2 (command) 300 (integer data consisting of bytes 1 and 44); the checksum is 47.
Status The status column shows those messages that have been implemented, and whether they have been tested.
Link Timeout
The link timeout is a safety feature, designed to enable the AP50 to return to UAV mode (from RPV mode), if communication link is lost, or inactive, after a set length of time. The default timeout value is 99 seconds. Example: The operator switches to RPV mode to disable mission (waypoint) navigation, and to redirect the UAV in a northerly direction. If the communication link is lost, the UAV will continue to fly north, and the operator will have lost control unless the communication link is reestablished. With the link timeout feature, the AP50 will revert to UAV mode, and continue flying its programmed mission, once the preset link timeout has been reached.
Mode Control
The AutoPilot flight modes available are: RC RCRF RPVRF UAV direct RC transmitter control (PIC), AutoPilot stability augmentation disengaged GCS control of S1-S5 servos, AutoPilot stability augmentation disengaged semi-autonomous, AutoPilot stability augmentation engaged autonomous, navigation from stored commands, AutoPilot stability augmentation engaged
The mode command byte and the mode status are the same, e.g. mode 0 indicates RC mode.
X = don't care (value is not a factor) RCRF (Mode 2) and RPVRF (Mode 3) will remain in effect until a new mode command is received over the link, or if the link timeout has been exceeded. The link timeout timer is reset upon receipt of each valid message.
10
32
4
Data In
3
Data Out
Regulated Supply
11
Gnd
10 XStream module
Power (+5VDC)
+5 VDC output
11
12
Change Notes
YYMMDD 040927 Changes removed unimplemented commands 31-34, and associated references; removed RPVRC mode (Mode 1), and associated references; added GCS modem and GCS adapter information removed AP40 GCS support information; changed status of commands 0D, 0E, 1A updated mode/state information update on link baud rate added note 5 under GCS Command Set table added clarifications to AutoPilot Telemetry Packet information added commands 0D (Set WPS), and 0E (Set WPA); updated Warning on pg.5 data message length increased from 47 bytes to 54 bytes (see byte count 48 thru 53 for new features); deleted original commands 38, 39, 3A, 3B, 3C; new commands 2B, 3C, 3D, 3E; message checksum added added data type returned for commands 1A, 1B, removed set servo implemented indications, added altitude / speed change freeze (values remain in effect, see Warning on pg. 5). added explanation of checksum added fix quality and number of satellites commands added NOP command changed ID to a Long data type only, eliminated integer part changed all commands to explicit type added explicit message type to response to commands Removed read desired and actual values of those data contained in long data message. Command codes changed for unimplemented commands. Change set desired speed, altitude, roll, pitch, turn rate to integers, change messages to and from AutoPilot from byte+128 to integers Changed from feet and fps to meters and km/hour. Desired speed and desired altitude divisors changed from /10 and /100 to /2 and /20. Long data message desired speed and desired altitude byte values changed to integer values (which do not require division).
031002
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Support
Please contact support at tech@uavflight.com for information on AutoPilot software versions and upgrades.
Manual Revision
8 October 2004 UAV Flight Systems, Inc. 2004 All Rights Reserved
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