SIM001 › Beyond the cockpit › The flight computer
The ground station gets the telemetry of the flight computer
The ground station does not talk to ArduPilot. The MAVLink telemetry of ArduPilot goes to the flight computer. The flight computer sends it down the serial line to the TX15, and the TX15 passes it on. The link is narrow, so the flight computer cannot send more than the line carries. Its own frames for the TX15 go first.
The ground station hears the plane through the TX15
If the ground station telemetry is flowing, wait 5 seconds. The ground station hears the HEARTBEAT of the plane.
See it in Fly and watch the screen, Command through the line.
How this is tested verified
Given the ground station telemetry is flowing When 5 seconds pass Then the ground station telemetry is flowing
The position on the map comes from the telemetry of the line
If the ground station telemetry is flowing and the ground station map distance is 400 m, wait 5 seconds. The ground station map distance is at least 399 m. The ground station map distance is at most 401 m.
See it in Fly and watch the screen.
How this is tested verified
Given the ground station telemetry is flowing And the ground station map distance is 400 m When 5 seconds pass Then the ground station map distance is at least 399 m And the ground station map distance is at most 401 m
Commands of the ground station reach ArduPilot
If the ground station telemetry is flowing, send a command to the plane from the ground station. Then wait 5 seconds. ArduPilot gets the command of the ground station.
See it in Command through the line.
How this is tested verified
Given the ground station telemetry is flowing When the ground station command is sent And 5 seconds pass Then the autopilot command is received
The telemetry does not use more than the line carries
If the ground station telemetry is flowing, wait 10 seconds. The ground station telemetry rate is at most 4000 bytes per second.
See it in The line is narrow.
How this is tested verified
Given the ground station telemetry is flowing When 10 seconds pass Then the ground station telemetry rate is at most 4000 bytes per second
Without the TX15 the ground station hears nothing
If the ground station telemetry is flowing, connect the TX15 to the flight computer, or unplug it. Then wait 10 seconds. The ground station hears nothing from the plane.
How this is tested verified
Given the ground station telemetry is flowing When the TX15 is not connected And 10 seconds pass Then the ground station telemetry is silent