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Message Types Overview

Telemetry Messages

Telemetry messages are used to receive real-time data from the drone. Examples of telemetry messages include depth, altitude, attitude, and battery status. These messages are handled by the TelemetryClient class. They are subscribed to and processed to update the state of the drone or trigger callbacks.

Control Messages

Control messages are used to send commands to control the drone's behavior. Examples of control messages include setting light intensity, controlling thrusters, and taking pictures. These messages are handled by the CtrlClient class. They are sent to the drone to perform actions like adjusting lights, moving the drone, or starting/stopping recordings.

Request-Reply (Req_Rep) Messages

Request-Reply messages are used for synchronous communication where a request is sent, and a response is expected. Examples of request-reply messages include getting camera parameters, setting overlay parameters, and synchronizing time. These messages are handled by the ReqRepClient class. They are used to query the drone for information or to set configurations that require confirmation.

Message Formats

Message formats define the structure and serialization of messages. These include Protobuf message definitions for telemetry, control, and request-reply messages. Message formats are used internally by the SDK to serialize and deserialize messages, ensuring consistent communication between the SDK and the drone. For example, the telemetry message "DepthTel" will have a "Depth" message from message formats.

Mission Planning Messages

Mission planning messages are used for planning and executing missions. Examples of mission planning messages include waypoints and mission start/stop commands. These messages are used to define and control autonomous missions for the drone, allowing for pre-programmed routes and actions to be executed by the drone.

Aquatroll Messages

Aquatroll messages are used for communication with Aquatroll sensors. Examples of Aquatroll messages include sensor data requests and configuration commands. These messages are used to interface with Aquatroll sensors connected to the drone, allowing for the collection and management of environmental data from the sensors.