Release Notes

ATOM UAV MANUAL
Date:
2022
-
01
-
04
Version: 1.3
Page: 23 of 39
FLARM Technology
Ltd
Hinterbergstrasse 15
CH-6330 Cham
Document Number:
FTD-088
Note: Versions of ArduPilot (≤4.1.0) and PX4-Autopilot (≤1.12.3) at the time of
writing of this document have a limitation that the system time only re-
synchronizes to the GNSS time when the drift is larger than 5s. This is not
sufficient for long-time operation of the Atom UAV. The drift has been
measured at ~0.5 ms/min. For short missions in the order of 20 min this
is not an issue. For longer missions it is suggested to improve the time
synchronization of the flight controller.
5.1.3 Compatible Ground Control Software
The surrounding traffic can be displayed on the ground control software. In the
figure below, an example is shown for QGroundControl v4.1.1. The red arrow
indicates the own vehicle position, and the blue arrow shows the target and
trajectory of a target received through Atom UAV:
Other ground control software may offer support, too.
5.2 JSON Interface
A JSON message stream is available on the JST port or USB port. A detailed
interface description can be found in document FTD-092.The protocol sends out
unsolicited heartbeat and traffic information.
Example stream:
{"heartbeat":{"protocol":{"version":1},"system":{"id":"FLAFUS10W-
000051"}}}\r\n
{"navigation":{"pos":{"lat":47.18686,"lon":8.477258,"alt":482,"baro":352},"
mov":{"speed":0.01,"gnd":true},"time":1622118506}}\r\n
{"traffic":{"id":{"flarm":14622722},"src":{"flarm":{}},"type":1,"pos":{"lat
":47.1868486,"lon":8.4772844,"alt":488},"mov":{"gnd":true,"climb":-
0.1},"time":1622118506}}\r\n
{"traffic":{"id":{"flarm":14622761},"src":{"flarm":{}},"type":1,"pos":{"lat
":47.1867496,"lon":8.4766621,"alt":497},"mov":{"gnd":true,"climb":-
0.1},"time":1622118506}}\r\n