We replaced some variables in ardustation programming in telemtry.c and then monitored it in HappyKill More GCS program in the Serial Data:
// The Ardupilot GroundStation protocol is mostly documented here:
// http://diydrones.com/profiles/blogs/ardupilot-telemetry-protocol
///////////////////////// battery health testing code
if((udb_analogInputs[0].value<batt_min_value) && (mode ==3))
{
BATT_FLAG =1;
}
//////////////////////////////////////////////////////
if(mode<3)
{
BATT_FLAG =0;
}
if (udb_heartbeat_counter % 40 == 0) // Every 8 runs (5 heartbeat counts per 8Hz)
{
serial_output("!!!LAT:%li,LON:%li,SPD:%.2f,CRT:%.2f,ALT:%li,ALH:%i,CRS:%.2f,BER:%i,WPN:%i,DS
T:%i,BTV:%.2f***\r\n"
"+++THH:%i,RLL:%li,PCH:%li,STT:%i,***\r\n",
lat_gps.WW / 10 , long_gps.WW / 10 , (float)(sog_gps.BB / 100.0),
(float)(climb_gps.BB / 100.0),
(alt_sl_gps.WW - alt_origin.WW) / 100, desiredHeight,
(float)(cog_gps.BB / 100.0), desired_dir_deg,
waypointIndex, udb_analogInputs[0].value, (float)(voltage_milis.BB /
100.0),
(int16_t)((udb_pwOut[THROTTLE_OUTPUT_CHANNEL] -
udb_pwTrim[THROTTLE_OUTPUT_CHANNEL])/20),
earth_roll, earth_pitch,
(BATT_FLAG+1) // So that flag is not discarded if it is 0
) ;
}
else if (udb_heartbeat_counter % 10 == 0) // Every 2 runs (5 heartbeat counts per
8Hz)
{
serial_output("+++THH:%i,RLL:%li,PCH:%li,STT:%i,***\r\n",
(int16_t)((udb_pwOut[THROTTLE_OUTPUT_CHANNEL] -
udb_pwTrim[THROTTLE_OUTPUT_CHANNEL])/20),
earth_roll, earth_pitch,
mode
) ;
}
return ;
}
These can be viewed in the serial data screen of the Happy Kill More GCS program.
