DRS Firmware Manual v2.6-EN (2022-07-19)
©2022 Drone Rescue Systems GmbH
15/19
DJI-API (Onboard SDK)
This interface type is activated if the parameter
Onboard SDK is used to switch off the UAV motors before the parachute is deployed. The
drone needs to be configured as explained in the DRS parachute manual.
MAVLink Interface
This interface type is activated if the parameter
The DRS can easily be integrated in a Pixhawk ecosystem (PX4 flight stack, Ardupilot) with a
UART connection. It works with MAVLink protocol version 1 as well as version 2. The interface
implements the following main features:
•
The DRS shares status information which can be shown in a GCS.
•
Connection health is observed using HEARTBEAT (#0) messages.
•
Before
the
DRS
deploys
the
parachute
it
sends
the
command
MAV_CMD_DO_FLIGHTTERMINATION (#185) to stop the motors.
•
The autopilot can control the DRS's automatic failure detection and it can deploy the
parachute with the command MAV_CMD_DO_PARACHUTE (#208).
•
Files can be transferred using MAVLink-FTP.
•
The ping protocol is supported.
•
The DRS can be configured via the parameter protocol using a GCS like Auterion
Mission Control, QGroundControl, etc.
•
The DRS tries to retrieve the system time from the autopilot at startup.
The flight controller needs to be configured as explained in the DRS parachute manual.
6.4.1
Enable/Disable the Automatic Failure Detection
After startup, the DRS switches between the
landing according to the internal takeoff/landing detection. This state transition can also be
forced with the MAV_CMD_DO_PARACHUTE command which could be sent e.g. by an
onboard computer. The command is handled according to the "Action"-parameter as shown
in Table 9 (see the official MAVLink documentation for details on this command).
