Skip to main content

Home Location

The home location subprotocols allow the GCS to read and update the home location of the UAV.

Home Location Read​

The home location read subprotocol allows the GCS to read the home location in the UAV, either initiated by the Operator or when a connection is established.

Messages​

  1. HOME_LOCATION_READ_REQUEST
  2. HOME_LOCATION_READ_REQUEST_ACK

Sequence​

sequenceDiagram
    participant GCS
    participant UAV

    loop n
        GCS->>UAV: HOME_LOCATION_READ_REQUEST
        GCS->>GCS: Start timeout

        alt success
            UAV-->>GCS: HOME_LOCATION_READ_REQUEST_ACK
        else failure
            GCS->>GCS: Timeout expires
        end
    end
  1. If the GCS wants to read the stored home location from the UAV, it sends a HOME_LOCATION_READ_REQUEST message to the UAV.
  2. The GCS starts a timeout of a fixed duration.
  3. If the UAV responds with a HOME_LOCATION_READ_REQUEST_ACK message (includes the home location position), then the operation is considered successful.
  4. If the timeout expires before the UAV can send a response, the GCS retries the operation upto n times before the operation is considered a failure, the error is reported and the UAV continues operations.

Notes​

  • If the UAV does not receive the HOME_LOCATION_READ_REQUEST message/ does not respond, the operation is considered a failure by the GCS and reported. Operations can be stopped by the Pilot before a catastrophic failure occurs.

Home Location Write​

The home location write microservice allows the GCS to update the home location in the UAV.

Messages​

  1. HOME_LOCATION_WRITE_REQUEST
  2. HOME_LOCATION_WRITE_REQUEST_ACK

Sequence​

sequenceDiagram
    participant GCS
    participant UAV

    loop n
        GCS->>UAV: HOME_LOCATION_WRITE_REQUEST
        GCS->>GCS: Start timeout

        alt success
            UAV-->>GCS: HOME_LOCATION_WRITE_REQUEST_ACK
        else failure
            GCS->>GCS: Timeout expired
        end
    end
  1. If the GCS wants to update the stored home location in the UAV, it sends a HOME_LOCATION_WRITE_REQUEST message to the UAV.
  2. The GCS starts a timeout of a fixed duration.
  3. If the UAV responds with a HOME_LOCATION_WRITE_REQUEST message (includes the home location position), then the operation is considered successful.
  4. If the timeout expires before the UAV can send a response, the GCS retries the operation upto n times before the operation is considered a failure, the error is reported and the UAV continues operations.

Notes​

  • If the UAV does not receive the HOME_LOCATION_WRITE_REQUEST message/does not respond, the operation is considered a failure by the GCS and reported. Operations can be stopped by the Pilot before a catastrophic failure occurs.