Telemetry protocol¶
Telemetry field registration¶
Before any telemetry can be sent to the UCS it must be registered.
Each telemetry field supported by the vehicle should be registered via Register_vehicle.register_flight_controller.telemetry_fields message (See Register_field message).
All telemetry values are considered valid until explicitly reported as N/A by the VSM.
VSM will send N/A automatically depending on timeout upon field creation. This timeout value is used only by VSM-SDK and not communicated to UCS.
Built in telemetry field names¶
VSM can register any set of telemetry fields but there are some built in telemetry field names which are treated specially by UCS.
Registering different semantic for these values will lead to undesired results.
Field name |
Semantic |
Subsystem |
Notes |
|---|---|---|---|
adsb_altitude |
FIELD_SEMANTIC_ALTITUDE_AMSL |
ADSB |
|
adsb_altitude_internal |
FIELD_SEMANTIC_BOOL |
ADSB |
|
adsb_error_gps |
FIELD_SEMANTIC_BOOL |
ADSB |
|
adsb_error_icao |
FIELD_SEMANTIC_BOOL |
ADSB |
|
adsb_error_squitter |
FIELD_SEMANTIC_BOOL |
ADSB |
|
adsb_error_temperature |
FIELD_SEMANTIC_BOOL |
ADSB |
|
adsb_error_xpdr |
FIELD_SEMANTIC_BOOL |
ADSB |
|
adsb_flight |
FIELD_SEMANTIC_STRING |
ADSB |
|
adsb_icao |
FIELD_SEMANTIC_ICAO |
ADSB |
|
adsb_ident_active |
FIELD_SEMANTIC_BOOL |
ADSB |
|
adsb_registration |
FIELD_SEMANTIC_STRING |
ADSB |
|
adsb_squawk |
FIELD_SEMANTIC_SQUAWK |
ADSB |
|
adsb_transponder_mode |
FIELD_SEMANTIC_ADSB_MODE |
ADSB |
|
adsb_version |
FIELD_SEMANTIC_STRING |
ADSB |
|
air_speed |
FIELD_SEMANTIC_AIR_SPEED |
FC |
|
altitude_agl |
FIELD_SEMANTIC_ALTITUDE_AGL |
FC |
|
altitude_amsl |
FIELD_SEMANTIC_ALTITUDE_AMSL |
FC |
|
altitude_origin |
FIELD_SEMANTIC_ALTITUDE_AMSL |
FC |
|
altitude_raw |
FIELD_SEMANTIC_ALTITUDE_RAW |
FC |
|
autopilot_status |
FIELD_SEMANTIC_AUTOPILOT_STATUS |
FC |
|
autopilot_status_text |
FIELD_SEMANTIC_STRING |
FC |
|
control_mode |
FIELD_SEMANTIC_CONTROL_MODE |
FC |
|
course |
FIELD_SEMANTIC_HEADING |
FC |
Course over ground relative to North. Range 0..2Pi, East is positive |
current |
FIELD_SEMANTIC_NUMERIC |
FC |
Main battery current in Amperes |
current_command |
FIELD_SEMANTIC_NUMERIC |
FC |
Current command_id vehicle is executing now. Command number in mission as sent to the vehicle. |
current_mission_id |
FIELD_SEMANTIC_NUMERIC |
FC |
Mission ID reported by VSM. VSM generates this on mission upload. |
downlink_present |
FIELD_SEMANTIC_BOOL |
FC |
|
fence_enabled |
FIELD_SEMANTIC_BOOL |
FC |
True if fence is enabled |
field_of_view |
FIELD_SEMANTIC_NUMERIC |
Camera |
|
flight_mode |
FIELD_SEMANTIC_FLIGHT_MODE |
FC |
|
gcs_link_quality |
FIELD_SEMANTIC_LINK_QUALITY |
FC |
|
gimbal_roll |
FIELD_SEMANTIC_ROLL |
GIMBAL |
Gimbal roll in earth frame in degrees. |
gimbal_pitch |
FIELD_SEMANTIC_PITCH |
GIMBAL |
Gimbal pitch in earth frame in degrees. -90 means looking down, 90 - up. |
gimbal_heading |
FIELD_SEMANTIC_HEADING |
GIMBAL |
Gimbal pitch in earth frame in degrees. Zero means north. |
gps_fix |
FIELD_SEMANTIC_GPS_FIX_TYPE |
FC |
|
ground_speed |
FIELD_SEMANTIC_GROUND_SPEED |
FC |
|
heading |
FIELD_SEMANTIC_HEADING |
FC |
Yaw relative to North. Range 0..2Pi, East is positive |
health_rangefinder |
FIELD_SEMANTIC_BOOL |
FC |
Health status of rangefinder sensor |
home_altitude_amsl |
FIELD_SEMANTIC_ALTITUDE_AMSL |
FC |
|
home_altitude_raw |
FIELD_SEMANTIC_ALTITUDE_RAW |
FC |
|
home_latitude |
FIELD_SEMANTIC_LATITUDE |
FC |
|
home_longitude |
FIELD_SEMANTIC_LONGITUDE |
FC |
|
is_armed |
FIELD_SEMANTIC_BOOL |
FC |
|
latitude |
FIELD_SEMANTIC_LATITUDE |
FC |
|
longitude |
FIELD_SEMANTIC_LONGITUDE |
FC |
|
remaining_power_level |
FIELD_SEMANTIC_CAPACITY_LEVEL |
FC |
0..1 |
main_voltage |
FIELD_SEMANTIC_MAIN_VOLTAGE |
FC |
|
motor_pwm_1 |
FIELD_SEMANTIC_NUMERIC |
FC |
|
motor_pwm_2 |
FIELD_SEMANTIC_NUMERIC |
FC |
|
motor_pwm_3 |
FIELD_SEMANTIC_NUMERIC |
FC |
|
motor_pwm_4 |
FIELD_SEMANTIC_NUMERIC |
FC |
|
motor_pwm_5 |
FIELD_SEMANTIC_NUMERIC |
FC |
|
motor_pwm_6 |
FIELD_SEMANTIC_NUMERIC |
FC |
|
motor_pwm_7 |
FIELD_SEMANTIC_NUMERIC |
FC |
|
motor_pwm_8 |
FIELD_SEMANTIC_NUMERIC |
FC |
|
motors_ok |
FIELD_SEMANTIC_BOOL |
FC |
true - ok, false - not ok. |
native_flight_mode |
FIELD_SEMANTIC_STRING |
FC |
Autopilot specific flight mode name |
pitch |
FIELD_SEMANTIC_PITCH |
FC |
Pitch relative to horizon. Range -Pi..Pi, pitch up is positive |
payload_status |
FIELD_SEMANTIC_STRING |
PAYLOAD_CONTROLLER |
Status of an attached payload. |
payload_data |
FIELD_SEMANTIC_STRING |
PAYLOAD_CONTROLLER |
Any payload telemetry. |
rc_link_quality |
FIELD_SEMANTIC_LINK_QUALITY |
FC |
|
roll |
FIELD_SEMANTIC_ROLL |
FC |
Roll relative to horizon. Range -Pi..Pi, roll right is positive |
safety_battery_active |
FIELD_SEMANTIC_BOOL |
Winch |
|
safety_battery_voltage |
FIELD_SEMANTIC_NUMERIC |
Winch |
|
satellite_count |
FIELD_SEMANTIC_SATELLITE_COUNT |
FC |
|
standby |
FIELD_SEMANTIC_BOOL |
FC |
Standby means system is grounded and on standby. It can be launched any time. |
takeoff_latitude |
FIELD_SEMANTIC_LATITUDE |
FC |
|
takeoff_longitude |
FIELD_SEMANTIC_LONGITUDE |
FC |
|
target_altitude_amsl |
FIELD_SEMANTIC_ALTITUDE_AMSL |
FC |
|
target_altitude_raw |
FIELD_SEMANTIC_ALTITUDE_RAW |
FC |
|
target_latitude |
FIELD_SEMANTIC_LATITUDE |
FC |
|
target_longitude |
FIELD_SEMANTIC_LONGITUDE |
FC |
|
uplink_present |
FIELD_SEMANTIC_BOOL |
FC |
|
vertical_speed |
FIELD_SEMANTIC_VERTICAL_SPEED |
FC |
|
vibration_x |
FIELD_SEMANTIC_NUMERIC |
FC |
|
vibration_y |
FIELD_SEMANTIC_NUMERIC |
FC |
|
vibration_z |
FIELD_SEMANTIC_NUMERIC |
FC |
|
video_stream_uri |
FIELD_SEMANTIC_STRING |
Camera |
|
winch_connected |
FIELD_SEMANTIC_BOOL |
Winch |
Sending telemetry data¶
Any message from VSM can contain a set of telemetry fields from vehicle specified by device_id (Vsm_message.device_status.telemetry_fields).