Name larus_sensor_box
Object Id 2
Preffered IDs for Specific Datapoints 0x120 - 0x12f
Preffered IDs for Generic Datapoints 0x520 - 0x52f
Comment Definition of CAN bus datagrams of the Larus Sensor Box
Name: roll_nick
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x00
No Datapoint Type Unit / Comment
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0 roll_angle f32 rad
4 nick_angle f32 rad
Name: yaw_turn_rate
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x01
No Datapoint Type Unit / Comment
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0 yaw f32 rad
4 turn_rate f32 rad/s
Name: airspeed
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x02
No Datapoint Type Unit / Comment
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0 tas f32 m/s
4 ias f32 m/s
Name: vario
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x03
No Datapoint Type Unit / Comment
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0 vario f32 m/s
4 vario_avarage f32 m/s
Name: wind
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x04
No Datapoint Type Unit / Comment
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0 wind_direction f32 rad
4 wind_speed f32 m/s
Name: avarage_wind
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x05
No Datapoint Type Unit / Comment
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0 avarage_wind_direction f32 rad
4 avarage_wind_speed f32 m/s
Name: atmosphere
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x06
No Datapoint Type Unit / Comment
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0 ambient_pressure f32 Pa
4 air_density f32 kg/m^3
Name: g_force
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x07
No Datapoint Type Unit / Comment
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0 g_force f32 m/s^2
4 vertical_g_force f32 m/s^2
Name: slip_and_pitch_angle
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x08
No Datapoint Type Unit / Comment
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0 slip_angle f32 rad, positive if track right of heading
4 pitch_angle f32 rad
Name: fly_state_and_supply_voltage
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 5 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x09
No Datapoint Type Unit / Comment
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0 supply_voltage f32 V
4 circle_mode u8 0 STRAIGHT_FLIGHT
1 TRANSITION
2 CIRCLING
Name: heartbeat
Object-ID Version: 0
Type: Data Object
Interval: 1000 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) + 0x00
No Datapoint Type Unit / Comment
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0 object_id u16 Enumeration, see CAN Specificatiion
2 object_id_generation u16 Generation of Object Id
4 dev_uid u8[4] DevUid
Name: version
Object-ID Version: 0
Type: Data Object
Interval: if required by remote frame request, check exact id
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) + 0x01
No Datapoint Type Unit / Comment
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0 hw_version HwVersion .
4 fw_version FwVersion .
Name: set_config
Object-ID Version: 0
Type: Service
Interval: if required
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) + 0x02
No Datapoint Type Unit / Comment
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0 config_id u16 Enumeration
0: volume_vario
1: mac_cready
2: water_ballast
3: bugs
4: qnh
5: pilot_weight
6: vario_mode_control
7: tc_climb_rate
8: tc_speed_to_fly
2 config_data u8[6] Specific to the item
0: volume_vario: u8 unit db, u8[5] reserved
1: mac_cready: u8[2] reserved, f32 unit m/s
2: water_ballast: u8[2] reserved, f32 unit fraction
3: bugs: u8[2] reserved, f32 unit factor
4: qnh: u8[2] reserved, f32 unit Pa
5: pilot_weight: u8[2] reserved, f32 unit kg
6: vario_mode_control u8: 0 Vario, 1 SpeedToFly, 2 Auto
7: tc_climb_rate: u8[2] reserved, f32 unit s
8: tc_speed_to_fly: u8[2] reserved, f32 unit s
Name: blob_upload
Object-ID Version: 0
Type: Service
Interval: if required
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) + 0x03
No Datapoint Type Unit / Comment
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0 upload_state u3 0 type_of_transmission
1 length
2 crc
3 data
4 last data
5 ack_transmission
0.3 block_count u5 block counter
1 content u8[7] upload_state 0: u8[3] reserved (u8=0), u32 type_of_transmission
upload_state 1: u8[3] reserved (u8=0), u32 blob_length
upload_state 2: u8[3] reserved (u8=0), u32 crc
upload_state 3: u8[7] blob data
upload_state 4: u8[7] blob data
upload_state 5: u8[3] reserved (=0), u32 requested_block
_
Type of transmission:
0 NMEA GPS data
1 NMEA Flarm data
2 Larus configuration data
3 Larus firmware image