• Optimize measurements so all the data is stored ONLY in system variable.
• Add second IMU
• Add filtering to IMU data
• Add depth sensing
• Test control loops
• Add packet for telemetry setup
• Allow multiple telemetry links
• Add tasks stats to system variables
• Reorganize control loop so info about used PID controlers, variables etc can be stored in configuration file
• Implementation of EKF

Each message sended from and to TCM must follow protocol described in this section. The bit order is LSB first.

Cheksum is 16-bit CRC-CCITT. It is calculated with following function:

uint16_t calculateChecksum(uint8_t* data_p, uint16_t length)
{
    uint8_t x;
    uint16_t crc = 0xFFFF;

    while (length--){
        x = crc >> 8 ^ *data_p++;
        x ^= x>>4;
        crc = (crc << 8) ^ ((uint16_t)(x << 12)) ^ ((uint16_t)(x <<5)) ^ ((uint16_t)x);
    }
    return crc;
}

They are few types of message that you can send or receive with TCM. If the payload is not described it means that it length is 0.

User can request data from TCM.

These messages are used to test, set, load and save new settings.

The only option to control the boat is using sticks. Stick values are float big endian. It is possible but not mandatory to send up to 16 stick commands in one message.

For now sticks are corresponding to the control inputs as follow:

- stick 0 - roll
- stick 1 - pitch
- stick 2 - yaw
- stick 3 - vertical
- stick 4 - forward
- stick 5 - enable thrusters

Example message for commanding the sticks:

|Checksum MSB|byte| |Checksum LSB|byte|

TCM is sending heart beat packet twice a second.

After each service message received TCM is responding with this packet.

• Copy following lines to install vcpkg:

  • linux: '. <(curl https://aka.ms/vcpkg-init.sh -L)'
  • windows: 'iex (iwr -useb https://aka.ms/vcpkg-init.ps1)'

• Clone TMC code from github

• Open TMC folder with VSCode

• Install Embeded Tools extension

• Install CMake Tools extension

• in terminal type vcpkg activate

Thats it.