MINDS-i-Debugger

Code to assist with debugging MINDSi robots

This library contains code for providing logging and debugging msgs on a dedicated serial link.

Usage

Sending Messages

In the main program file include the required debugger headers.

#include <MINDSiDebugger.h>
#include <DebugMsgs.h>
#include <Util.h>

Create a debugger instance

#ifdef M_DEBUG
  #include "MINDSiDebugger.h"
  MINDSiDebugger debugger;
#endif

Create a message and send it anywhere you want to send a message (sending messages in fast running loops can slow down the loop and hinder performance)

#ifdef M_DEBUG
	// Logger Msg
	RawPositionMsg_t msg;
	GPS_ANGLE loc_lat = location.angLatitude();
	GPS_ANGLE loc_lon = location.angLongitude();
	msg.latitude.minutes = loc_lat.minutes;
	msg.latitude.frac = loc_lat.frac;
	msg.longitude.minutes = loc_lon.minutes;
	msg.longitude.frac = loc_lon.frac;
	msg.altitude = 0.0;
	debugger.send(msg);
#endif

Receiving Messages

Receive messages by running the reader (specifying port and output file). Optionally, a live view of the robot can be viewed by secifying the live plotter flag (see the usage output)

./scripts/reader.py -h

Creating/Modifying Debug Messages

The debug messages are auto generated using the message generation script. Editing the debug_msgs.yaml file and re-running the message generation script will allow you to create and modify debug messages.

YAML configuration file

All debug messages are described in the follwing way:

Built In Types

These are the native types and sizes and associated with the target platform

'char': 1
'int8_t': 1
'uint8_t': 1
'int16_t': 2
'uint16_t': 2
'int32_t': 4
'uint32_t': 4
'float': 4

Custom Types

These the custom types that messages can use to describe more complicated fields

<custom_type_name>:
    # list of fields
    - name: <field_name>
        struct_type: <struct_type> # can be custom type or built in type
        cast_type: <cast_type> # optional - built in integer type to cast the value to before sending (needed for float struct types)
        mod_factor: <value> # optional - value to scale the field by before casting to <cast_type>
        mod_offset: <value> # optional - value to add to the field (occurs before <mod_factor> if specified) before casting to <cast_type>
        description: <string> # optional - description of the field for this README

Debug Messages

These are debug messages that can be sent from the platform

  - name: <debug_msg_name>:
    id: <hex_msg_id> # a unique (checked at generation time) hex identifier
    description: '<string>' # description of the message for this README
    fields:
      # list of fields
      - name: <field_name>
        struct_type: <struct_type> # can be custom type or built in type
        cast_type: <cast_type> # optional - built in integer type to cast the value to before sending (needed for float struct types)
        mod_factor: <value> # optional - value to scale the field by before casting to <cast_type>
        mod_offset: <value> # optional - value to add to the field (occurs before <mod_factor> if specified) before casting to <cast_type>
            interpret: # optional - usually used for custom types
                type: <python_type> # type hint for the python reader to display the message field
                func: <func> # function to create a value from this type (custom functions can be defined in the template for data_decoder.py)
        num_format: <string> # optional - python f string format string to format the field (usually to specify digits or alignment)
        description: <string> # optional - description of the field for this README

Generating the debug messages

Run the message generation script once you've edited the configuration file. By default a stamped message will be created for each message type, but this can be disabled (see the usage output)

./msg_generation/generate_debug_msgs.py -h

Packet Structure

Header_1	Header_2	Length	Type	Message-dependent	Checksum_1	Checksum_2
0x51	0xAC	len	id	data_bytes..	cs_1	cs_2

Checksum Calculation

Checksums are calculated over the bytes following the length field (see "Packet Structure") up to but not including the checksum fields.

The checksum can be calculated using the following pseudo code:

const uint16_t crctable[256] =
{
    0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
    0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7,
    0x0919, 0x1890, 0x2A0B, 0x3B82, 0x4F3D, 0x5EB4, 0x6C2F, 0x7DA6,
    0x8551, 0x94D8, 0xA643, 0xB7CA, 0xC375, 0xD2FC, 0xE067, 0xF1EE,
    0x1232, 0x03BB, 0x3120, 0x20A9, 0x5416, 0x459F, 0x7704, 0x668D,
    0x9E7A, 0x8FF3, 0xBD68, 0xACE1, 0xD85E, 0xC9D7, 0xFB4C, 0xEAC5,
    0x1B2B, 0x0AA2, 0x3839, 0x29B0, 0x5D0F, 0x4C86, 0x7E1D, 0x6F94,
    0x9763, 0x86EA, 0xB471, 0xA5F8, 0xD147, 0xC0CE, 0xF255, 0xE3DC,
    0x2464, 0x35ED, 0x0776, 0x16FF, 0x6240, 0x73C9, 0x4152, 0x50DB,
    0xA82C, 0xB9A5, 0x8B3E, 0x9AB7, 0xEE08, 0xFF81, 0xCD1A, 0xDC93,
    0x2D7D, 0x3CF4, 0x0E6F, 0x1FE6, 0x6B59, 0x7AD0, 0x484B, 0x59C2,
    0xA135, 0xB0BC, 0x8227, 0x93AE, 0xE711, 0xF698, 0xC403, 0xD58A,
    0x3656, 0x27DF, 0x1544, 0x04CD, 0x7072, 0x61FB, 0x5360, 0x42E9,
    0xBA1E, 0xAB97, 0x990C, 0x8885, 0xFC3A, 0xEDB3, 0xDF28, 0xCEA1,
    0x3F4F, 0x2EC6, 0x1C5D, 0x0DD4, 0x796B, 0x68E2, 0x5A79, 0x4BF0,
    0xB307, 0xA28E, 0x9015, 0x819C, 0xF523, 0xE4AA, 0xD631, 0xC7B8,
    0x48C8, 0x5941, 0x6BDA, 0x7A53, 0x0EEC, 0x1F65, 0x2DFE, 0x3C77,
    0xC480, 0xD509, 0xE792, 0xF61B, 0x82A4, 0x932D, 0xA1B6, 0xB03F,
    0x41D1, 0x5058, 0x62C3, 0x734A, 0x07F5, 0x167C, 0x24E7, 0x356E,
    0xCD99, 0xDC10, 0xEE8B, 0xFF02, 0x8BBD, 0x9A34, 0xA8AF, 0xB926,
    0x5AFA, 0x4B73, 0x79E8, 0x6861, 0x1CDE, 0x0D57, 0x3FCC, 0x2E45,
    0xD6B2, 0xC73B, 0xF5A0, 0xE429, 0x9096, 0x811F, 0xB384, 0xA20D,
    0x53E3, 0x426A, 0x70F1, 0x6178, 0x15C7, 0x044E, 0x36D5, 0x275C,
    0xDFAB, 0xCE22, 0xFCB9, 0xED30, 0x998F, 0x8806, 0xBA9D, 0xAB14,
    0x6CAC, 0x7D25, 0x4FBE, 0x5E37, 0x2A88, 0x3B01, 0x099A, 0x1813,
    0xE0E4, 0xF16D, 0xC3F6, 0xD27F, 0xA6C0, 0xB749, 0x85D2, 0x945B,
    0x65B5, 0x743C, 0x46A7, 0x572E, 0x2391, 0x3218, 0x0083, 0x110A,
    0xE9FD, 0xF874, 0xCAEF, 0xDB66, 0xAFD9, 0xBE50, 0x8CCB, 0x9D42,
    0x7E9E, 0x6F17, 0x5D8C, 0x4C05, 0x38BA, 0x2933, 0x1BA8, 0x0A21,
    0xF2D6, 0xE35F, 0xD1C4, 0xC04D, 0xB4F2, 0xA57B, 0x97E0, 0x8669,
    0x7787, 0x660E, 0x5495, 0x451C, 0x31A3, 0x202A, 0x12B1, 0x0338,
    0xFBCF, 0xEA46, 0xD8DD, 0xC954, 0xBDEB, 0xAC62, 0x9EF9, 0x8F70
};

crc = 0x0001

for ( each byteValue between length and checksum fields)
{
 	crc = (crc << 8) ^ crctable[((crc >> 8) ^ byteValue)];
}

Message Types

List of available message types.

Type ID	Name
0x10	RawPositionMsg_t
0x1A	StampedRawPositionMsg_t
0x11	ExtrapolatedPositionMsg_t
0x1B	StampedExtrapolatedPositionMsg_t
0x20	OrientationMsg_t
0x2A	StampedOrientationMsg_t
0x30	RadioMsg_t
0x3A	StampedRadioMsg_t
0x40	ImuMsg_t
0x4A	StampedImuMsg_t
0x41	SonarMsg_t
0x4B	StampedSonarMsg_t
0x42	BumperMsg_t
0x4C	StampedBumperMsg_t
0x60	StateMsg_t
0x6A	StampedStateMsg_t
0x80	ControlMsg_t
0x8A	StampedControlMsg_t
0x81	WaypointMsg_t
0x8B	StampedWaypointMsg_t
0x82	SteeringControllerMsg_t
0x8C	StampedSteeringControllerMsg_t
0xA0	VersionMsg_t
0xAA	StampedVersionMsg_t
0x90	AsciiMsg_t

Custom Data Types

typedef struct {
    int16_t minutes;
    float frac;
} GpsAngle_t;

typedef struct {
    char data[256];
    uint8_t len;
} LenString_t;

Message Definitions

RawPosition Message (0x10)

Positioning information being provided by the GPS sensor.

typedef struct {
    GpsAngle_t latitude;
    GpsAngle_t longitude;
    float altitude;
} RawPositionMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-5	latitude.minutes	-32768..32767	1	GPS reciever reported latitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
6-9	latitude.frac	-21474.8..21474.8	1e-05	GPS reciever reported latitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
10-11	longitude.minutes	-32768..32767	1	GPS reciever reported longitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
12-15	longitude.frac	-21474.8..21474.8	1e-05	GPS reciever reported longitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
16-17	altitude	-900.0..19000.3	0.304	GPS reciever reported altitude (m)

StampedRawPosition Message (0x1A)

Positioning information being provided by the GPS sensor.

typedef struct {
    uint32_t timestamp;
    GpsAngle_t latitude;
    GpsAngle_t longitude;
    float altitude;
} StampedRawPositionMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8-9	latitude.minutes	-32768..32767	1	GPS reciever reported latitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
10-13	latitude.frac	-21474.8..21474.8	1e-05	GPS reciever reported latitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
14-15	longitude.minutes	-32768..32767	1	GPS reciever reported longitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
16-19	longitude.frac	-21474.8..21474.8	1e-05	GPS reciever reported longitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
20-21	altitude	-900.0..19000.3	0.304	GPS reciever reported altitude (m)

ExtrapolatedPosition Message (0x11)

Position information created through calculation rather than sensed directly.

typedef struct {
    GpsAngle_t latitude;
    GpsAngle_t longitude;
    float altitude;
} ExtrapolatedPositionMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-5	latitude.minutes	-32768..32767	1	GPS reciever reported latitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
6-9	latitude.frac	-21474.8..21474.8	1e-05	GPS reciever reported latitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
10-11	longitude.minutes	-32768..32767	1	GPS reciever reported longitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
12-15	longitude.frac	-21474.8..21474.8	1e-05	GPS reciever reported longitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
16-17	altitude	-900.0..19000.3	0.304	Altitude extraploated between GPS readings (m)

StampedExtrapolatedPosition Message (0x1B)

Position information created through calculation rather than sensed directly.

typedef struct {
    uint32_t timestamp;
    GpsAngle_t latitude;
    GpsAngle_t longitude;
    float altitude;
} StampedExtrapolatedPositionMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8-9	latitude.minutes	-32768..32767	1	GPS reciever reported latitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
10-13	latitude.frac	-21474.8..21474.8	1e-05	GPS reciever reported latitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
14-15	longitude.minutes	-32768..32767	1	GPS reciever reported longitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
16-19	longitude.frac	-21474.8..21474.8	1e-05	GPS reciever reported longitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
20-21	altitude	-900.0..19000.3	0.304	Altitude extraploated between GPS readings (m)

Orientation Message (0x20)

Orientation information used for control puposes.

typedef struct {
    float heading;
    float roll;
    float pitch;
} OrientationMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-5	heading	-327.68..327.67	0.01	Heading (deg)
6-7	roll	-327.68..327.67	0.01	Roll (deg)
8-9	pitch	-327.68..327.67	0.01	Pitch (deg)

StampedOrientation Message (0x2A)

Orientation information used for control puposes.

typedef struct {
    uint32_t timestamp;
    float heading;
    float roll;
    float pitch;
} StampedOrientationMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8-9	heading	-327.68..327.67	0.01	Heading (deg)
10-11	roll	-327.68..327.67	0.01	Roll (deg)
12-13	pitch	-327.68..327.67	0.01	Pitch (deg)

Radio Message (0x30)

Commands being sent by the radio controller.

typedef struct {
    float speed;
    uint8_t steering;
} RadioMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-5	speed	-327.68..327.67	0.01	Speed command from radio controller (mph)
6	steering	0..256	1	TBD

StampedRadio Message (0x3A)

Commands being sent by the radio controller.

typedef struct {
    uint32_t timestamp;
    float speed;
    uint8_t steering;
} StampedRadioMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8-9	speed	-327.68..327.67	0.01	Speed command from radio controller (mph)
10	steering	0..256	1	TBD

Imu Message (0x40)

Measurement information being privided by the IMU sensor.

typedef struct {
    float eulerX;
    float eulerY;
    float eulerZ;
    float accX;
    float accY;
    float accZ;
    float gyroX;
    float gyroY;
    float gyroZ;
    float quaternionW;
    float quaternionX;
    float quaternionY;
    float quaternionZ;
} ImuMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-5	euler_x	-3.14171..3.14161	9.59e-05	Euler angle on the X axis (rad)
6-7	euler_y	-3.14171..3.14161	9.59e-05	Euler angle on the Y axis (rad)
8-9	euler_z	-3.14171..3.14161	9.59e-05	Euler angle on the Z axis (rad)
10-11	acc_x	-4.0..3.99988	0.000122	Acceleration on the X axis (g)
12-13	acc_y	-4.0..3.99988	0.000122	Acceleration on the Y axis (g)
14-15	acc_z	-4.0..3.99988	0.000122	Acceleration on the Z axis (g)
16-17	gyro_x	-1998.05..1997.99	0.061	Rotation rate on the X axis (deg/s)
18-19	gyro_y	-1998.05..1997.99	0.061	Rotation rate on the Y axis (deg/s)
20-21	gyro_z	-1998.05..1997.99	0.061	Rotation rate on the Z axis (deg/s)
22-23	quaternion_w	-2.0..1.99994	6.1e-05	W value of the quaternion matrix
24-25	quaternion_x	-2.0..1.99994	6.1e-05	X value of the quaternion matrix
26-27	quaternion_y	-2.0..1.99994	6.1e-05	Y value of the quaternion matrix
28-29	quaternion_z	-2.0..1.99994	6.1e-05	Z value of the quaternion matrix

StampedImu Message (0x4A)

Measurement information being privided by the IMU sensor.

typedef struct {
    uint32_t timestamp;
    float eulerX;
    float eulerY;
    float eulerZ;
    float accX;
    float accY;
    float accZ;
    float gyroX;
    float gyroY;
    float gyroZ;
    float quaternionW;
    float quaternionX;
    float quaternionY;
    float quaternionZ;
} StampedImuMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8-9	euler_x	-3.14171..3.14161	9.59e-05	Euler angle on the X axis (rad)
10-11	euler_y	-3.14171..3.14161	9.59e-05	Euler angle on the Y axis (rad)
12-13	euler_z	-3.14171..3.14161	9.59e-05	Euler angle on the Z axis (rad)
14-15	acc_x	-4.0..3.99988	0.000122	Acceleration on the X axis (g)
16-17	acc_y	-4.0..3.99988	0.000122	Acceleration on the Y axis (g)
18-19	acc_z	-4.0..3.99988	0.000122	Acceleration on the Z axis (g)
20-21	gyro_x	-1998.05..1997.99	0.061	Rotation rate on the X axis (deg/s)
22-23	gyro_y	-1998.05..1997.99	0.061	Rotation rate on the Y axis (deg/s)
24-25	gyro_z	-1998.05..1997.99	0.061	Rotation rate on the Z axis (deg/s)
26-27	quaternion_w	-2.0..1.99994	6.1e-05	W value of the quaternion matrix
28-29	quaternion_x	-2.0..1.99994	6.1e-05	X value of the quaternion matrix
30-31	quaternion_y	-2.0..1.99994	6.1e-05	Y value of the quaternion matrix
32-33	quaternion_z	-2.0..1.99994	6.1e-05	Z value of the quaternion matrix

Sonar Message (0x41)

Measurement information being provided by the sonar ring.

typedef struct {
    int16_t ping1;
    int16_t ping2;
    int16_t ping3;
    int16_t ping4;
    int16_t ping5;
} SonarMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-5	ping1	-32768..32767	1	Echo time in microseconds
6-7	ping2	-32768..32767	1	Echo time in microseconds
8-9	ping3	-32768..32767	1	Echo time in microseconds
10-11	ping4	-32768..32767	1	Echo time in microseconds
12-13	ping5	-32768..32767	1	Echo time in microseconds

StampedSonar Message (0x4B)

Measurement information being provided by the sonar ring.

typedef struct {
    uint32_t timestamp;
    int16_t ping1;
    int16_t ping2;
    int16_t ping3;
    int16_t ping4;
    int16_t ping5;
} StampedSonarMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8-9	ping1	-32768..32767	1	Echo time in microseconds
10-11	ping2	-32768..32767	1	Echo time in microseconds
12-13	ping3	-32768..32767	1	Echo time in microseconds
14-15	ping4	-32768..32767	1	Echo time in microseconds
16-17	ping5	-32768..32767	1	Echo time in microseconds

Bumper Message (0x42)

Measurement information being provided by the bump sensors.

typedef struct {
    int8_t left;
    int8_t right;
} BumperMsg_t;

Byte Offset	Name	Range	Resolution	Description
4	left	-128..127	1	TBD
5	right	-128..127	1	TBD

StampedBumper Message (0x4C)

Measurement information being provided by the bump sensors.

typedef struct {
    uint32_t timestamp;
    int8_t left;
    int8_t right;
} StampedBumperMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8	left	-128..127	1	TBD
9	right	-128..127	1	TBD

State Message (0x60)

Current rover state information.

typedef struct {
    uint8_t apmState;
    uint8_t driveState;
    uint8_t autoState;
    uint8_t autoFlag;
    float voltage;
    float amperage;
    float groundSpeed;
} StateMsg_t;

Byte Offset	Name	Range	Resolution	Description
4	apmState	0..256	1	Maps [Invalid, Init, Self-test, Drive] to [0, 1, 2, 3]
5	driveState	0..256	1	Maps [Invalid, Stop, Auto, Radio] to [0, 1, 2, 3]
6	autoState	0..256	1	Maps [Invalid, Full, Avoid, Stalled] to [0, 1, 2, 3]
7	autoFlag	0..256	1	Maps [None, Caution, Approach] to [0, 1, 2]
8	voltage	0.0..25.6	0.1	Current battery voltage (volts)
9	amperage	0.0..25.6	0.1	Current amperage draw on battery (amps)
10	groundSpeed	0.0..25.6	0.1	Current speed of rover (mph)

StampedState Message (0x6A)

Current rover state information.

typedef struct {
    uint32_t timestamp;
    uint8_t apmState;
    uint8_t driveState;
    uint8_t autoState;
    uint8_t autoFlag;
    float voltage;
    float amperage;
    float groundSpeed;
} StampedStateMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8	apmState	0..256	1	Maps [Invalid, Init, Self-test, Drive] to [0, 1, 2, 3]
9	driveState	0..256	1	Maps [Invalid, Stop, Auto, Radio] to [0, 1, 2, 3]
10	autoState	0..256	1	Maps [Invalid, Full, Avoid, Stalled] to [0, 1, 2, 3]
11	autoFlag	0..256	1	Maps [None, Caution, Approach] to [0, 1, 2]
12	voltage	0.0..25.6	0.1	Current battery voltage (volts)
13	amperage	0.0..25.6	0.1	Current amperage draw on battery (amps)
14	groundSpeed	0.0..25.6	0.1	Current speed of rover (mph)

Control Message (0x80)

Rover output control values.

typedef struct {
    float speed;
    uint8_t steering;
} ControlMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-5	speed	-327.68..327.67	0.01	Speed setting sent to controller (mph)
6	steering	0..256	1	Steering angle sent to controller (centered at 90 degrees)

StampedControl Message (0x8A)

Rover output control values.

typedef struct {
    uint32_t timestamp;
    float speed;
    uint8_t steering;
} StampedControlMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8-9	speed	-327.68..327.67	0.01	Speed setting sent to controller (mph)
10	steering	0..256	1	Steering angle sent to controller (centered at 90 degrees)

Waypoint Message (0x81)

Variables used to calculate control for waypoint navigation.

typedef struct {
    GpsAngle_t latStart;
    GpsAngle_t lonStart;
    GpsAngle_t latIntermediate;
    GpsAngle_t lonIntermediate;
    GpsAngle_t latTarget;
    GpsAngle_t lonTarget;
    float pathHeading;
} WaypointMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-5	lat_start.minutes	-32768..32767	1	Previous waypoint latitude used for creating path (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
6-9	lat_start.frac	-21474.8..21474.8	1e-05	Previous waypoint latitude used for creating path (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
10-11	lon_start.minutes	-32768..32767	1	Previous waypoint longitude used for creating path (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
12-15	lon_start.frac	-21474.8..21474.8	1e-05	Previous waypoint longitude used for creating path (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
16-17	lat_intermediate.minutes	-32768..32767	1	Temporary target latitude calculated by line gravity (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
18-21	lat_intermediate.frac	-21474.8..21474.8	1e-05	Temporary target latitude calculated by line gravity (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
22-23	lon_intermediate.minutes	-32768..32767	1	Temporary target longitude calculated by line gravity (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
24-27	lon_intermediate.frac	-21474.8..21474.8	1e-05	Temporary target longitude calculated by line gravity (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
28-29	lat_target.minutes	-32768..32767	1	Current goal waypoint latitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
30-33	lat_target.frac	-21474.8..21474.8	1e-05	Current goal waypoint latitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
34-35	lon_target.minutes	-32768..32767	1	Current goal waypoint longitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
36-39	lon_target.frac	-21474.8..21474.8	1e-05	Current goal waypoint longitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
40-41	path_heading	-327.68..327.67	0.01	Desired heading (deg)

StampedWaypoint Message (0x8B)

Variables used to calculate control for waypoint navigation.

typedef struct {
    uint32_t timestamp;
    GpsAngle_t latStart;
    GpsAngle_t lonStart;
    GpsAngle_t latIntermediate;
    GpsAngle_t lonIntermediate;
    GpsAngle_t latTarget;
    GpsAngle_t lonTarget;
    float pathHeading;
} StampedWaypointMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8-9	lat_start.minutes	-32768..32767	1	Previous waypoint latitude used for creating path (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
10-13	lat_start.frac	-21474.8..21474.8	1e-05	Previous waypoint latitude used for creating path (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
14-15	lon_start.minutes	-32768..32767	1	Previous waypoint longitude used for creating path (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
16-19	lon_start.frac	-21474.8..21474.8	1e-05	Previous waypoint longitude used for creating path (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
20-21	lat_intermediate.minutes	-32768..32767	1	Temporary target latitude calculated by line gravity (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
22-25	lat_intermediate.frac	-21474.8..21474.8	1e-05	Temporary target latitude calculated by line gravity (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
26-27	lon_intermediate.minutes	-32768..32767	1	Temporary target longitude calculated by line gravity (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
28-31	lon_intermediate.frac	-21474.8..21474.8	1e-05	Temporary target longitude calculated by line gravity (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
32-33	lat_target.minutes	-32768..32767	1	Current goal waypoint latitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
34-37	lat_target.frac	-21474.8..21474.8	1e-05	Current goal waypoint latitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
38-39	lon_target.minutes	-32768..32767	1	Current goal waypoint longitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
40-43	lon_target.frac	-21474.8..21474.8	1e-05	Current goal waypoint longitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
44-45	path_heading	-327.68..327.67	0.01	Desired heading (deg)

SteeringController Message (0x82)

Debug output for steering controller

typedef struct {
    float scSteering;
    float trueSteering;
    float kCrosstrack;
    float kYaw;
    float headingError;
    float crosstrackError;
} SteeringControllerMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-5	sc_steering	-327.68..327.67	0.01	Steering controller output angle (deg) (ccw: + cw: -)
6-7	true_steering	-327.68..327.67	0.01	Platform specific steering angle (deg) (centered at 90 degrees)
8-9	k_crosstrack	-32.768..32.767	0.001	Crosstrack error gain value
10-11	k_yaw	-32.768..32.767	0.001	Yaw error gain value
12-13	heading_error	-327.68..327.67	0.01	Heading error (deg)
14-15	crosstrack_error	-327.68..327.67	0.01	Crosstrack error (m)

StampedSteeringController Message (0x8C)

Debug output for steering controller

typedef struct {
    uint32_t timestamp;
    float scSteering;
    float trueSteering;
    float kCrosstrack;
    float kYaw;
    float headingError;
    float crosstrackError;
} StampedSteeringControllerMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8-9	sc_steering	-327.68..327.67	0.01	Steering controller output angle (deg) (ccw: + cw: -)
10-11	true_steering	-327.68..327.67	0.01	Platform specific steering angle (deg) (centered at 90 degrees)
12-13	k_crosstrack	-32.768..32.767	0.001	Crosstrack error gain value
14-15	k_yaw	-32.768..32.767	0.001	Yaw error gain value
16-17	heading_error	-327.68..327.67	0.01	Heading error (deg)
18-19	crosstrack_error	-327.68..327.67	0.01	Crosstrack error (m)

Version Message (0xA0)

Version information.

typedef struct {
    uint8_t debugMajor;
    uint8_t debugMinor;
    uint8_t apmMajor;
    uint8_t apmMinor;
} VersionMsg_t;

Byte Offset	Name	Range	Resolution	Description
4	debug_major	0..256	1	Major version of debug protocol
5	debug_minor	0..256	1	Minor version of debug protocol
6	apm_major	0..256	1	Major version of APM protocol
7	apm_minor	0..256	1	Minor version of APM protocol

StampedVersion Message (0xAA)

Version information.

typedef struct {
    uint32_t timestamp;
    uint8_t debugMajor;
    uint8_t debugMinor;
    uint8_t apmMajor;
    uint8_t apmMinor;
} StampedVersionMsg_t;

Byte Offset	Name	Range	Resolution	Description
4-7	timestamp	0..4294967296	1	Arduino time (ms) when the message was created
8	debug_major	0..256	1	Major version of debug protocol
9	debug_minor	0..256	1	Minor version of debug protocol
10	apm_major	0..256	1	Major version of APM protocol
11	apm_minor	0..256	1	Minor version of APM protocol

Ascii Message (0x90)

A method for sending ASCII messages. These should only be used for active debugging and should be removed before committing to the repository.

typedef struct {
	LenString_t ascii
} AsciiMsg_t;

Byte Offset	Name	Description
4-?	LenString_t	Struct of ASCII characters for temporary debugging msgs

Example:

#ifdef M_DEBUG
	AsciiMsg_t msg;
	String tst = "ASCII MSG Here";
	msg.ascii.len = tst.length();
	tst.toCharArray(msg.ascii.data, tst.length() + 1);
	debugger.send(msg);
#endif