Status messages

Implemented by status & control module

Used for custom telemetry messages generated by the DroneBridge modules or plugins.

Difference to communication messages/protocol:

  • Higher update rates (several times/second)

  • No guaranteed delivery/No response

  • Shorter

Received by status module on ground station via long range link (embedded in raw protocol)

UAV-RC status update message

Sent by control module on AirPi ~5Hz

Description

Values

Details

RSSI RC on UAV

signed little-endian (?)

1 byte

received RC packets/s

unsigned little-endian

1 byte

AirPi CPU usage [%]

unsigned little-endian

1 byte

AirPi CPU temp [°C]

unsigned little-endian

1 byte

AirPi low voltage

unsigned little-endian

1 byte

unused

unsigned little-endian

1 byte

AirPi low voltage = 1 if low.

Messages sent by status module to a ground control station (app)

DroneBridge system-status message

This frame is generated and sent by the status module as a UDP packet to port 1608. It is 20 bytes long and has the following structure:

Description

Values

Details

Identifier

$D

2 bytes

Message ID

1

1 byte

Mode

UTF-8

1 byte

Received RC packets/s

unsigned

1 byte

RSSI drone (RC)

signed

1 byte

RSSI ground station (video)

signed

1 byte

Damaged blocks (video)

unsigned little-endian

4 bytes

Lost packets (video)

unsigned little-endian

4 bytes

Video bit rate Kbit/s

unsigned little-endian

4 bytes

Voltage status

bit 0: GNDPi; bit 1: AirPi

1 byte

Voltage status:

  • bit 0: if set GNDPi is on low voltage

  • bit 1: if set AirPi is on low voltage

DroneBridge RC-status message

Gets the RC-Channel values from the control module (ground station). The values are in between 1000 and 2000. These are the values right before they get transformed to DroneBridge RC protocol so calibration issues can be detected!

Description

Values

Details

identifier

$D

2 bytes

message id

2

1 byte

ch1

unsigned little-endian

2 bytes

ch2

unsigned little-endian

2 bytes

ch3

unsigned little-endian

2 bytes

ch4

unsigned little-endian

2 bytes

ch5

unsigned little-endian

2 bytes

ch6

unsigned little-endian

2 bytes

ch7

unsigned little-endian

2 bytes

ch8

unsigned little endian

2 bytes

ch9

unsigned little endian

2 bytes

ch10

unsigned little endian

2 bytes

ch11

unsigned little endian

2 bytes

ch12

unsigned little endian

2 bytes

ch13

unsigned little endian

2 bytes

ch14

unsigned little endian

2 bytes

Messages received the by status module coming from a ground control station (app)

DroneBridge RC-overwrite message

Allows to overwrite the channel values sent by DroneBridge RC via the control module. Can be used by head trackers etc.. Not intended to be used for regular control of the UAV. Please modify the implementation of the control module for that purpose.

Description

Values

Details

identifier

$D

2 bytes

message id

3

1 byte

ch1

unsigned little-endian

2 bytes

ch2

unsigned little-endian

2 bytes

ch3

unsigned little-endian

2 bytes

ch4

unsigned little-endian

2 bytes

ch5

unsigned little-endian

2 bytes

ch6

unsigned little-endian

2 bytes

ch7

unsigned little-endian

2 bytes

ch8

unsigned little endian

2 bytes

ch9

unsigned little endian

2 bytes

ch10

unsigned little endian

2 bytes

ch11

unsigned little endian

2 bytes

ch12

unsigned little endian

2 bytes

ch13

unsigned little endian

2 bytes

ch14

unsigned little endian

2 bytes

Channels set to zero will be ignored. Overwrite is only valid for 100ms. To overwrite channels for a longer period of time the update frequency of the RC-overwrite message must be >10Hz. Values must be between 1000-2000.