YS-X6 Alternative GCS
While the included PC GCS is functional I wanted to change a few things.
Play a sound file on alerts.
Time stamped log
So I started looking at how it compared to others.
I narrowed it down to ones that I might actually be able to translate to due to having a known protocol.
After looking at them, other features I became interested in.
OSD overlay on video stream.
Or at least video and telemetry on one screen. (13:44m into the video)
I do have a Dragon OSD v2 I was going to use.
But if all the information is already on the ground might as well use that.
Since ZeroUAV will not release their GCS protocol we have some options.
1. Reverse engineer the protocol.
2. Capture the sensor data at the source and translate to other format.
3. Install the sensor suite of the selected GCS.
1. Could be relative easy as you can decompile the APK to an extent.
Anyone else interested?
From post #33
GCS helper with voice
-The prompts are
System flight ready
System armed. Clear launch area
Mode position hold
Altitude decent rate high
-after landing I switch through modes
Mode return home
-Some things it checks and logs/prompts
6+ sats and xVel's below 20 for 5 seconds
Descending too fast
DTM > 100m
Velocity too high, > 400 in X/Y/D. White light threshold
Realtime servo position, excess FC correction required.
Angle, > 25 degrees
Announce mode changes
Now if we can get rid of the 5 second delay
Come on Zero, come to the party
Program to graph csv files
If you want to disable a voice prompt, rename the associated sound file.
Sound files need to be in c:\_ys_snd
It will play the sounds during a offline parse.
So if you have had an eventful flight you might want to disable the sounds.
Sound files, update1
Last edited by Mr_westie; Feb 27, 2013 at 04:44 PM.
it's a shame that while YS-X6 is a very good system, the GCS leaves many things to be desired. Their company's focus is more on functionality rather than visual appearance and cosmetics. They definitely should learn from their competitor especially because zero positions their products at the premium price range.
They've been developing OSD overlay on video stream but have not been able to release the final product.
Have you been in contact with zero support? Perhaps they're willing to collaborate with you. One thing that Zero needs to learn from the forum is that multirotor people are the creative and talented sorts so they do need to pace themselves faster than what it is now. The game is constantly changing pretty fast and somewhat abruptly in the multirotor scene.
Should have the protocol mapped soon.
GSC to step through log.
Hex editor to watch changes.
Excel for quick number crunching.
GSC seems to ignore the first entry in the log.
Found battery voltage offset, and a few other bits.
Can't figure out the checksum so I can directly edit the file and watch the changes.
Does not matter, this way just takes a little longer.
I'm getting good results for AP from YS-X6 but the software is UGLY and non intuitive, look at ALL the GCS above. And this is something that bothers me a lot, why can't they just hire someone to design a better looking GCS? I think when you launch a good product, you have to pay attention to EVERY detail of it, and this incluides aesthetics too...
Reginak, totally agree.
But We just got to remember this is performing at a much higher price point.
For comparison I looked up some Microdrone videos.
Not the smooth landing for a $15k+ machine.
Would be nice if they just released the protocol.
Then we would have this done much sooner.
I got most of it.
To figure out the rest I will check the data at each interface point on the AP.
GPS > AP
IMU > AP
AP > Wifi
offset hex value Notes
4 4 lat float 3
5 5 lat float 2
6 6 lat float 1
7 7 lat float 0
8 8 long float 3
9 9 long float 2
10 A long float 1
11 B long float 0
12 C long float 3 Appares when auto mode is enabled
13 D long float 2
14 E long float 1
15 F long float 0
16 10 lat float 3 Appares when auto mode is enabled
17 11 lat float 2
18 12 lat float 1
19 13 lat float 0
24 18 Sats
25 19 ?
26 1A ?
27 1B ?
28 1C ?
29 1D ?
30 1E ?
32 20 Manual servo. Rud
33 21 Man. Ail
34 22 Man Ele
35 23 Man. Thro 90=6e
36 24 RT. Rud L1=95
37 25 RealT.Servo Ail mp=96, L1=95
38 26 RT. Ele D4=92
39 27 RT. Thro 7=c7
40 28 ?
41 29 velx
42 2A ?
43 2B ?
50 32 gps velx cm signed short -2 = FFFE
51 33 gps velx cm 9 = 9
52 34 DT. Base
54 36 Shake
56 38 vib U-D0=c8 , L-R0=64
62 3E ?
66 42 Ai angle R/L
67 43 ?
68 44 ?
69 45 ?
70 46 Batt V.
76 4C mAh
79 4F Ai angle U/D
83 53 ?
86 56 veld?
87 57 veld?
88 58 veld?
89 59 veld
90 5A ?
91 5B ?
92 5C Amps
93 5D vely
94 5E gps velx cm signed short -2 = FFFE
95 5F gps velx cm 9 = 9
GCS REALLY needs a GUI face lift!!
I agree with everyone else. The graphical user interface (GUI, pronounced gooey)
looks terrible. The artificial horizon and the Altimeter should be much BIGGER, and better yet the size of it and all other interface elements should be adjustable so the user can customize his GCS interface to how HE wants it to look.
I would even be willing to finance the graphic artist (GUI designer) to work with the message boards and ZERO to come up with the BEST looking GCS user interface on the market!!
Just let me know.
Can you hear us ZERO?
I use this program to read the YS file.
Used this to locate some of the values
With two monitors I can stretch it out so each block of data is on it's own line.
Easy to see changes between data points.
Only the AP <> Wifi interface is rs232.
The other two are most likely SPI.
GPS > AP , IMU > AP
Will whip out the logic analyser and see.
Probed the pins.
GPS > AP
Looks like a direct connection to each device.
3v3, I2C and TTL serial.
Serial format was not NEMA. 4hz update rate.
IMU > AP
This one wasn't as straight forward.
One pin looked like a clock. 2khz, 2us pulse width.
That is the lower reference in each of these traces.
The best place to intercept the data onboard is COM3 (wifi).
Some byte slicing will get what you want.
Last edited by Mr_westie; Jun 08, 2013 at 03:41 PM.
What I should have done from the beginning.
Decompile the Android app.
To view source code
Any java programmers that can assist?
Will have a crack at it over the weekend.
Had a peak at the iOS app too.
Shed more light on the data format.
From the Android/Java App we can see the commands sent to the AP to make it do things.
We should now have enough info to make a full independent GCS.
Anyone want to band together for a generous donation to HK in the hopes he might consider supporting this protocol natively.
Write a translator program to sit between the I/O stream and a known protocol.
Write the translator into a Micro processor (AVR/PIC) and put it onboard.
Attach your choice of data downlink.
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