AeroQuad_ICD.txt

Aeroquad ground station interface definitions

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1. Serial commands:

NOTE: As a convention uppercase letters are used to set something and lowercase for queries.

Value   CommandValue                    Value   Telemetry
A       roll/pitch rate mode PID        a       read roll/pitch rate mode PID
B       roll/pitch attitude mode PID    b       read roll/pitch attitude mode PID
C       yaw PID                         c       read yaw PID
D       altitude hold PID               d       read altitude hold PID
E       sensor filtering                e       read sensor filtering
F       transmitter smoothing           f       read transmitter smoothing
G       transmitter slope cal           g       read transmitter slope values
H       transmitter offset cal          h       read transmitter offset values
I       initialize EEPROM               i       read sensor data
J       calibrate gyros                 j       read raw magnetometer values
K       calibrate accels                k       read accel calibration values
L       generate accel bias             l       read raw accel values
M       calibrate magnetometer          m       read magnetometer cal values
N       battery monitor                 n       read battery monitor settings
O       waypoints                       o       read waypoints
P       camera values                   p       read camera values
Q                                       q       read vehicle state variable
R                                       r       vehicle attitude
S                                       s       read vehicle status
T                                       t       read processed transmitter data
U       range finder                    u       read range finder
V       GPS PID                         v		    read GPS PID
W       write EEPROM values             w
X       stop telemetry                  x       stop telemetry
Y                                       y
Z                                       z       read altitude values

1       ESC cal high                    =       custom debug messages
2       ESC cal low                     !       read flight software version
3       ESC cal test                    #       read software configuration
4       ESC cal off
5       send motor commands
6       read remote motor command
7
8
9
0

2. Vehicle state values

Bitno(s)  Hex mask  Name
0         00000001  GYRO_DETECTED
1         00000002  ACCEL_DETECTED
2         00000004  MAG_DETECTED
3         00000008  BARO_DETECTED
4         00000010  HEADINGHOLD_ENABLED
5         00000020  ALTITUDEHOLD_ENABLED
6         00000040  BATTMONITOR_ENABLED
7         00000080  CAMERASTABLE_ENABLED
8         00000100  RANGE_ENABLED
9         00000200
10        00000400
11        00000800
12        00001000
13        00002000
14        00004000
15        00008000
16        00010000
17        00020000
18        00040000
19        00080000
20        00100000
21        00200000
22        00400000
23        00800000
24        01000000
25        02000000
26        04000000
27        08000000
28        10000000
29        20000000
30        40000000
31        80000000