The Ground controller (Ground) and KAP rig controller (Air) communcate via radio modems (APC220). This results in a 9600Bd half duplex serial link.
Ground and Air comminicate by transmitting short human readable messages which are comma separated records of items. The messages have the following layout:
message: $ + item + [,item] + \n item: ID + value ID: 2 characters, upper case for commands and settings, lower case for status an mesurments value: integer value example: $PM2,VM0,gv123\n
White space in messages is ignored. The following IDs ar used
gv gv1134 Ground battery Voltage in [v/100] here 11.34 volt av av732 Air battery Voltage in [v/100] MP MP120 Manual Pan setpoint [deg], right is positive MT MT10 Manual Tilt setpoint [deg], down is positive MC MC17 Manual Click counter (change -> take picture) cp cp120 Current Pan value [deg], right is positive ct ct10 Current Tilt value [deg], down is positive cc cc17 Current Click value (change -> take picture) VM VM0 Video Mode (0:off, 1:on) PM PM2 Pan Mode 0:Manual, 1:Auto KAP, 2:Panorama, 3:Smart (Manual, Autokap after 60 sec of inactivity) TM TM1 Time Mode 0:Manual, 1:quick, 2:2s, 3:3s, 4:5s, 5:10s vm, pm, tm: current status in Air