Onboard Software¶

Wasp has a hardware abstraction layer which isolates the software from the hardware implementing the defined interfaces. For a minimal HAL implementation please study null.c

../../_images/hal.png

../../_images/autopilot.png

The main link between the Groundstation and the Onboard software is through the communication layer.

void comm_send_message(CommChannel_t chan, CommMessage_t * message)

struct CommMessage_t

A message to be sent.

Public Members

uint8_t acid

Aircraft ID, id of message sender.

uint8_t msgid

ID of message in payload.

uint8_t len

Length of payload.

uint8_t payload

Payload.

uint8_t ck_a

Checksum high byte.

uint8_t ck_b

Checksum low byte.

uint8_t idx

State vaiable when filling payload.

Not sent

For a complete description of all communication messages please see Comm Protocol

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