iquart_flight_controller_interface.rst

IQUART Flight Controller Interface (IFCI)

This client is used to simplify communication between flight controllers and multiple modules connected to the IQUART bus.

Arduino

To use the IQUART Flight Controller Interface in Arduino, ensure iquart_flight_controller_interface_client.hpp is included. This allows the creation of a IQUartFlightControllerInterfaceClient object. See the Message Table below for available messages. All message objects use the Short Name with a trailing underscore. All messages use the standard Get/Set/Save functions.

A minimal working example for the IQUartFlightControllerInterfaceClient is:

#include <iq_module_communication.hpp>

IqSerial ser(Serial2);
IQUartFlightControllerInterfaceClient iquartFlightControllerInterface(0);

void setup() {
    ser.begin();
    // Initialize Serial (for displaying information on the terminal)
    Serial.begin(115200);
}

void loop() {
    int pulsingVoltageMode = 0;
    if(ser.get(iquartFlightControllerInterface.telemetry_, pulsingVoltageMode))
    Serial.println(pulsingVoltageMode);
}

C++

To use the IQUART Flight Controller Interface client in C++, include iquart_flight_controller_interface_client.hpp. This allows the creation of an IQUartFlightControllerInterface object. See the Message Table below for available messages. All message objects use the Short Name with a trailing underscore. All messages use the standard Get/Set/Save functions.

Simply create an IFCITelemetryData object to store the response from the telemetry endpoint. A minimal working example for the IQUartFlightControllerInterfaceClient using the telemetry endpoint is:

#include "generic_interface.hpp"
#include "iquart_flight_controller_interface_client.hpp"
#include <iostream>

void main(){
    // Make a communication interface object
    GenericInterface com;

    // Make a IQUART Flight Controller Interface object with obj_id 0
    IQUartFlightControllerInterfaceClient iquartFlightControllerInterface(0);

    // Use the IQUART Flight Controller Interface Client
    iquartFlightControllerInterface.telemetry_.get(com)

    // Insert code for interfacing with hardware here  

    // Store telemetry data in an IFCITelemetryData object
    IFCITelemetryData telemetry = iquart_flight_controller_interface.telemetry_.get_reply()

    // Examples on how to access each property of IFCITelemetryData
    cout << "telemetry coil_temp: " << telemetry.coil_temp << endl;
    cout << "telemetry consumption: " << telemetry.consumption << endl;
    cout << "telemetry current: " << telemetry.current << endl;
    cout << "telemetry mcu temp: " << telemetry.mcu_temp << endl;
    cout << "telemetry speed: " << telemetry.speed << endl;
    cout << "telemetry uptime: " << telemetry.uptime << endl;
    cout << "telemetry voltage: " << telemetry.voltage << endl;
}

Matlab

To use the IQUART Flight Controller Interface client in Matlab, all Vertiq communication code must be included in your path. This allows the creation of a IQUartFlightControllerInterfaceClient object. See the Message Table below for available messages. All message strings use the Short Names. All messages use the standard Get/Set/Save functions.

A minimal working example for the IQUartFlightControllerInterfaceClient is:

% Make a communication interface object
com = MessageInterface('COM18', 115200);
% Make a IQUART Flight Controller Interface object with obj_id 0
% IQUART Flight Controller Interface objects are always obj_id 0
IquartFlightControllerInterface = IQUartFlightControllerInterfaceClient('com', com);
% Use the IQUART Flight Controller Interface object
throttleCvi= IquartFlightControllerInterface.get('throttle_cvi');

Python

To use the IQUART Flight Controller Interface Client in Python, import iqmotion and create a module that has the Arming Handler Client within its firmware. See the table below for available messages. All message strings use the Short Names. All messages use the standard Get/Set/Save functions.

A minimal working example for the IQUART Flight Controller Interface Client is:

import iqmotion as iq

com = iq.SerialCommunicator("/dev/ttyUSB0")
|variable_name| = iq.|module_name|(com, 0, firmware="pulsing")

telemetry = |variable_name|.get("iquart_flight_controller_interface", "telemetry") 
print(f"Pulsing voltage mode: {telemetry}")

Message Table

Type ID 88 | IQUART Flight Controller Interface

IQUART Flight Controller Interface

Sub ID	Short Name	Access	Data Type	Unit	Note
1	telemetry	get	See IFCITelemetryData struct<ifcitelemetrydata_note>	16 Byte Array	Returns 16 bytes of telemetry information. See the IFCITelemetryData struct<ifcitelemetrydata_note> notes.
2	throttle_cvi	get, set, save	uint8	Index [0, 255]	The control value index for the throttle.
3	x_cvi	get, set, save	uint8	Index [0, 255]	The control value index value for the x rectangular coordinate.
4	y_cvi	get, set, save	uint8	Index [0, 255]	The control value index value for the y rectangular coordinate.