4.1.6       MAVLink requirements

 

FlightZoomer is using a number of MAVLink packets to extract relevant sensor data. These can be broadcasted from the flight controller to the onboard smartphone via Bluetooth using preconfigured streams.

The following table shows the required streams, the relevant packets and the recommended rate to transmit them (per second):

Stream

Recommended rate per second

Contained packets/
used packets

Used by FlightZoomer

RAW_SENS

10x

- RAW_IMU

- SCALED_IMU2

- SCALED_PRESSURE

- SENSOR_OFFSETS

X

EXT_STAT

1x

- SYS_STATUS

- MEMINFO

- MISSION_CURRENT

- GPS_RAW_INT

- NAV_CONTROLLER_OUTPUT

- POWER_STATUS

X

 

X

RC_CHAN

2x

- SERVO_OUTPUT_RAW

- RC_CHANNELS_RAW

X

X

POSITION

5x

- GLOBAL_POSITION_INT

X

EXTRA1

5x

- ATTITUDE

- SIMSTATE (SITL)

X

 

Using a baud rate of 57600 easily supports the recommended packet rate. Using the default baud rate of 9600 of an out-of-the-box HC-06 Bluetooth device however would not support the previously mentioned frequencies.