[rpolishchuk3]

Done so far:

• A UAV identifier, string defined by bidder
• Timestamp, in unix time
• Latitude and longitude, in decimal degrees
• Altitude AGL, in metres
• Battery percentage, 0-100

In progress:

• Horizontal and vertical position accuracy, in metres
• Flight mode: one of off | idle | link-lost | failsafe | armed-pilot | armed-automatic
• RC link status and telemetry link status, float 0-1 defined by the bidder with 1 representing best link quality.

[HameedFawwaz]

For the flight modes, they can be enumerated as follows:

"off" will be when the drone is powered off and not transmitting

"idle" will be when the drone is disarmed and safe. You can use motors_armed_wait() and motors_disarmed_wait() for this (see wait_vehicle_armed() in this file.

"link-lost": let's wait on this one, I have to look into this because it depends highly on the nature of our link. This also goes for the signal strength part as well.

"armed-pilot" this will be for the following flight modes:
Stabilize
Loiter
Alt-Hold
Acro

"armed-automatic" this will be for the following flight modes:
Guided
RTL (Return-To-Launch)
Land
Avoid-ADSB

You can find more information on ArduCopter Flight Modes Here:
https://ardupilot.org/copter/docs/flight-modes.html
https://mavlink.io/en/messages/common.html#MAV_MODE_FLAG

[HameedFawwaz]

For vertical and horizontal position accuracy, you can use h_acc and v_acc fields inside of GPS_RAW_INT to get those accuracy values. You can find more informaiton here: https://mavlink.io/en/messages/common.html#GPS_RAW_INT

The main requirement is that we need to run MAVLINK2 which we most likely are, it's just something that we should check during testing and configuration.

[rpolishchuk3]

Summary

Finished every bullet point to Telemetry:

• A UAV identifier, string defined by bidder
• Timestamp, in unix time
• Latitude and longitude, in decimal degrees
• Altitude AGL, in metres
• Battery percentage, 0-100
• Horizontal and vertical position accuracy, in metres
• Flight mode: one of off | idle | link-lost | failsafe | armed-pilot | armed-automatic
• RC link status and telemetry link status, float 0-1 defined by the bidder with 1 representing best link quality.