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Re: [Paparazzi-devel] Multi tiered telemetry solution

From: Chris Gough
Subject: Re: [Paparazzi-devel] Multi tiered telemetry solution
Date: Wed, 7 Mar 2012 09:46:33 +1100

Hi Tilman,

The way ardupilot does it, paparazzi should be able to do it too.  Single 
serial link to a Linux computer, then the Linux computer routes whatever 
messages over whatever links. 

In ardu*, the AP talks MavLink to a MavProxy process on the Linux computer, and 
MavProxy has the features to route between multiple links. Another Linux 
computer running MavProxy puts it back together again on the ground side.

The Paparazzi equivalent might be some sort of routing agents spanning multiple 
ivy busses. I'm a bit hazy on details because I haven't tried it. MavProxy is 
python with a plugin architecture, maybe even a new ivy/paparazzi plugin could 
reuse the routing/link monitoring features...

Chris Gough

On 07/03/2012, at 3:32 AM, Tilman Baumann <address@hidden> wrote:

> I have been wondering for a while if it would be feasible to have some kind 
> of tiered structure for different telemetry links.
> Most links have their distinct advantages but also disadvantages.
> I was thinking to have WLAN for short range via on-board computer. (Telemetry 
> via UDP and video/image capture)
> RF for mid range.
> And 3g/UMTS for fall-back. (Has anyone tried this before on paparazzi? 
> ArduPilot seems to have that as a viable option.)
> Those links have obviously very different round trip times, bandwidth and 
> reliability. So the amount of data sent back would have to be dynamically 
> adapted.
> I don't think the code has such a concept yet, but does anyone think it can 
> be easily done?
> I'm actually contemplating some kind of bridge right now that takes a full 
> speed telemetry downlink via serial that has some knowledge about the message 
> types in order to chop off messages that will not fit the selected downlink.
> I'm just thinking loud here. But if the ideas are viable I would perhaps like 
> to invest some energy to test those...
> Cheers
> Tilman
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