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Radio
Adrien Aubry edited this page Feb 27, 2023
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BCFlight implements a custom communication protocol that allows sending rich data compared to regular analog transmission.
Each packet starts with a 16-bit ID, followed by any amount of data. Exception goes to 0x8* packets used for continuous controls update, having an 8-bit only ID thus reducing payload size.
Data types :
| Type | Value |
|---|---|
| u8 | unsigned 8 bits integer, big endian |
| s8 | signed 8 bits integer, big endian |
| u16 | unsigned 16 bits integer, big endian |
| s16 | signed 16 bits integer, big endian |
| u32 | unsigned 32 bits integer, big endian |
| s32 | signed 32 bits integer, big endian |
| float | IEEE 754 floating-point value |
| string | \0 terminated character string |
| ID | Name | Ground to drone data | Drone to ground data | Comment |
|---|---|---|---|---|
| 0x00 | UNKNOWN | none | none | Should never happen |
| 0x80 | STATUS | none | status bitmap | |
| 0x81 | PING | u16(current_ticks), u16(current_ping) | u16(received_ticks) | Controller sends current tick to drone, drone sends it back, controller compares the value sent back with actual current tick |
| 0x82 | TELEMETRY | none | Telemetry structure | |
| 0x83 | CONTROLS | Controls structure | ||
| 0x0600 | ACK_ID | |||
| 0x60 | CALIBRATE | u32(full), float(altitude) | u32(status) | full=1 asks the FC to calibrate all connected sensors, altitude holds current ground altitude (if known, else 0). Drone will answer back continuously CALIBRATING while calibrating, ending with status (0=done, otherwise error) |
| 0x61 | CALIBRATING | not impl. | u32(status) | 1=calibrating, 0=not calibrating |
| 0x62 | SET_TIMESTAMP | u32(timestamp) | not impl. | Send current daytime to drone (in EPOCH seconds) |
| 0x63 | ARM | none | none | Deprecated, directly implemented in continuous CONTROLS command |
| 0x64 | DISARM | none | none | Deprecated |
| 0x65 | RESET_BATTERY | u32(0) | u32(unused) | Resets battery counters |
| 0x66 | CALIBRATE_ESCS | |||
| 0x67 | SET_FULL_TELEMETRY | |||
| 0x68 | DEBUG_OUTPUT | |||
| 0x69 | GET_BOARD_INFOS | |||
| 0x6A | GET_SENSORS_INFOS | |||
| 0x6B | GET_CONFIG_FILE | |||
| 0x6C | SET_CONFIG_FILE | |||
| 0x6D | UPDATE_UPLOAD_INIT | |||
| 0x6E | UPDATE_UPLOAD_DATA | |||
| 0x6F | UPDATE_UPLOAD_PROCESS | |||
| 0x70 | ENABLE_TUN_DEVICE | |||
| 0x71 | DISABLE_TUN_DEVICE | |||
| 0x10 | PRESSURE | |||
| 0x11 | TEMPERATURE | |||
| 0x12 | ALTITUDE | |||
| 0x13 | ROLL | |||
| 0x14 | PITCH | |||
| 0x15 | YAW | |||
| 0x16 | ROLL_PITCH_YAW | |||
| 0x17 | ACCEL | |||
| 0x18 | GYRO | |||
| 0x19 | MAGN | |||
| 0x1A | MOTORS_SPEED | |||
| 0x1B | CURRENT_ACCELERATION | |||
| 0x1C | GYRO_DTERM | |||
| 0x20 | SENSORS_DATA | |||
| 0x21 | PID_OUTPUT | |||
| 0x22 | OUTER_PID_OUTPUT | |||
| 0x23 | ROLL_PID_FACTORS | |||
| 0x24 | PITCH_PID_FACTORS | |||
| 0x25 | YAW_PID_FACTORS | |||
| 0x26 | OUTER_PID_FACTORS | |||
| 0x27 | HORIZON_OFFSET | |||
| 0x30 | VBAT | |||
| 0x31 | TOTAL_CURRENT | |||
| 0x32 | CURRENT_DRAW | |||
| 0x34 | BATTERY_LEVEL | |||
| 0x35 | CPU_LOAD | |||
| 0x36 | CPU_TEMP | |||
| 0x37 | RX_QUALITY | |||
| 0x38 | RX_LEVEL | |||
| 0x39 | STABILIZER_FREQUENCY | not impl. | u32(freq) | Current { sensors + PID + stabilization algorithm } update frequency |
| 0x40 | SET_ROLL | |||
| 0x41 | SET_PITCH | |||
| 0x42 | SET_YAW | |||
| 0x43 | SET_THRUST | |||
| 0x47 | RESET_MOTORS | |||
| 0x48 | SET_MODE | |||
| 0x49 | SET_ALTITUDE_HOLD | |||
| 0x50 | SET_ROLL_PID_P | |||
| 0x51 | SET_ROLL_PID_I | |||
| 0x52 | SET_ROLL_PID_D | |||
| 0x53 | SET_PITCH_PID_P | |||
| 0x54 | SET_PITCH_PID_I | |||
| 0x55 | SET_PITCH_PID_D | |||
| 0x56 | SET_YAW_PID_P | |||
| 0x57 | SET_YAW_PID_I | |||
| 0x58 | SET_YAW_PID_D | |||
| 0x59 | SET_OUTER_PID_P | |||
| 0x5A | SET_OUTER_PID_I | |||
| 0x5B | SET_OUTER_PID_D | |||
| 0x5C | SET_HORIZON_OFFSET | |||
| 0xA0 | VIDEO_PAUSE | |||
| 0xA1 | VIDEO_RESUME | |||
| 0xA2 | VIDEO_TAKE_PICTURE | |||
| 0xA3 | VIDEO_START_RECORD | none | u32(recording) | Send video record start event, must be handled in LUA config file. Returns 1 if recording |
| 0xA4 | VIDEO_STOP_RECORD | none | u32(recording) | Send video record stop event, must be handled in LUA config file. Returns 1 if still recording, otherwise 0 |
| 0xA5 | VIDEO_NIGHT_MODE | u32(night_mode) | u32(reported) | Send video night-mode event, must be handled in LUA config file. reported returns new night-mode status (should be equal to night_mode) |
| 0xB0 | VIDEO_BRIGHTNESS_INCR | |||
| 0xB2 | VIDEO_BRIGHTNESS_DECR | |||
| 0xB3 | VIDEO_CONTRAST_INCR | |||
| 0xB4 | VIDEO_CONTRAST_DECR | |||
| 0xB5 | VIDEO_SATURATION_INCR | |||
| 0xB6 | VIDEO_SATURATION_DECR | |||
| 0xB7 | VIDEO_ISO_INCR | |||
| 0xB8 | VIDEO_ISO_DECR | |||
| 0xB9 | VIDEO_SHUTTER_SPEED_INCR | |||
| 0xBA | VIDEO_SHUTTER_SPEED_DECR | |||
| 0xBB | VIDEO_ISO | |||
| 0xBC | VIDEO_SHUTTER_SPEED | |||
| 0xC1 | VIDEO_WHITE_BALANCE | |||
| 0xC2 | VIDEO_EXPOSURE_MODE | |||
| 0xC3 | VIDEO_LOCK_WHITE_BALANCE | |||
| 0xC5 | VIDEO_LENS_SHADER | |||
| 0xC6 | VIDEO_SET_LENS_SHADER | |||
| 0xD0 | GET_RECORDINGS_LIST | |||
| 0xE0 | MOTOR_TEST | |||
| 0x1001 | GET_USERNAME | none | string | Current username as set in LUA config file |
| 0x7301 | ERROR_DANGEROUS_BATTERY | |||
| 0x7F01 | ERROR_CAMERA_MISSING | |||
| 0x7F02 | ERROR_MICROPHONE_MISSING |