Reading Arbitration Messages

Note that those messages are generated only if arbitration and the messages are enabled in CEX.

Arbiter will send its telemetry in little endian format, using its CAN-TX ID

  • Variable value message: (same as the 4XV)

    • Byte0 0 : t_arbitration message (CANstdp)

    • Byte1 N : Autopilot [0, 3]

    • Byte2-5 VVVV : Autopilot score as Float (32 bits)

  • Status message: (same as the 4XV. However, 4XV sends more data)

    • Byte0 0 : t_arbitration message (CANstdp)

    • Byte1 0xFF : Status flag

    • Byte2

      • bits6-0 : Chief autopilot (current, selected)

      • bit7 : Arbitrating 0:false, 1:true

    • Byte3:

      • bit0 : AP0 Alive

      • bit1 : AP1 Alive

      • bit2 : AP2 Alive

      • bit3 : AP3 Alive (external)

      • bit4 : AP0 Ready

      • bit5 : AP1 Ready

      • bit6 : AP2 Ready

      • bit7 : AP3 Ready (external)

Arbiter telemetry reading

Arbiter telemetry reading