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Contents
High-Level System Architecture................................................................................. 3
Overview................................................................................................................. 3
Communication Protocol............................................................................................. 5
Communication Functions....................................................................................... 5
Communication Methods......................................................................................... 5
Communication Design Decisions........................................................................... 6
Communication Method....................................................................................... 6
Communication Syntax........................................................................................... 7
References................................................................................................................ 10
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Document Control
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High-Level System Architecture
Overview
The system mainly consists of two parts; On-Land hardware and On-Plane hardware.
Mobile device: this can be seen as an integrated circuit that contains GPS,
Accelerometer, Gyro, Temperature-sensor, speaker, camera & touch
screen. In addition to ability to connect using GPRS & Wi-Fi.
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IOIO: is the input output board that can be considered as mobile extension
I/O ports. IOIO is mainly used to control servo motors and read external
sensors - if needed.
Switch: this is a simple hardware that enables RC-receiver to take control
of servo motors from mobile. It is activated via RC-AUX channel.
RC-Receiver: This is an ordinary receiver that communicates with On-Land
remote control.
Communication:
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Communication Protocol
Communication Functions
Communication Methods
In table below we can find pros and cons of different communication methods
available for hardware used in this system.
Communication
Pros Cons
Method
R/C Spread Reliable communication One-Direction
Spectrum method. communication from
Fastest response time remote to planes
among all other methods. receiver.
Not suitable for very long
ranges.
Wifi Two-way communication. Short range connection.
Can be used by laptop Slower response time
easily. because of packets
delay.
GPRS Two-way communication. The least reliable among
Suitable for very long other methods.
ranges. Slowest response time
because of packets
delay.
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This is another table that compares different features against available
communication methods.
Communication Method
1- Identification Protocol:
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Protocol is mainly a UDP broadcast of vehicle nature which is:
2- Sensor Protocol:
This is a UDP based protocol, it sends status of vehicle such as location info,
Gyro, Control Surface Positions Elevator, Rudder etc. Ground station
depends on this info to update displayed information for user. UDP is used
here to allow fast rate of sending data.
3- Control Protocol:
Communication Syntax
All protocols are text base protocols that use delimiters to separate different fields.
ID Protocol
Delimiter
Commands
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Type string Plane, Quad, Heli
Sensor Protocol
Delimiter
Commands
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Name Type Description
MAG String const Gyro Meter
MAG_X double rad/s
MAG_Y double rad/s
MAG_Z double rad/s
Control Protocol
Delimiter
Commands
The following are SET commands, they turn different sensors on and off, they can
also turn other activities. They act as remote toggle buttons.
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Name Type Description
SET_SWT String const
MAG String const Magnetic
On/OFF string ON or OFF
Delimiter
Commands
The following are route commands used to send and update routs for vehicle.
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ignored.
Example
"SET_ROT#SAV#0$31.365966796875$30.1341416247186$0$0$9999$0%1$31.3978958129883$
30.1118698492352$0$0$9999$0%2$31.3845062255859$30.0872165636535$0$0$9999$0\r\n"
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References
IOIO
Introduction to IOIO board.
http://www.sparkfun.com/tutorials/280
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