📄️ Discovery and Connection
The discovery and connection subprotocols allows various UAVs and a single GCS to discover each other and establish a connection.
📄️ State Transitions
The state transition subprotocols allows the GCS to receive (or initiate) state transitions to the orthogonal states of the UAV.
📄️ Channels
The channels subprotocols allows the UAV to transmit the input (received from RC) and output (sent to motors/control-surfaces) channel values to the GCS.
📄️ Sensors and Pose
The sensor and pose subprotocols allows the UAV to transmit individual sensor data as well as the calculated pose to the GCS.
📄️ PID Gains
The PID gains subprotocols allow the GCS to read and update the PID gains for the various controllers used by the UAV.
📄️ Home Location
The home location subprotocols allow the GCS to read and update the home location of the UAV.
📄️ Geofence
The geofence subprotocols allow the GCS to read and update the stored geofence on the UAV.
📄️ Mission
The mission subprotocols allow the GCS to read and update the stored mission on the UAV.
📄️ UAV Configuration
The UAV configuration subprotocol allows the GCS to read and update the stored UAV configurations on the UAV.