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update Telemetry.md (#7978)

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@ -10,10 +10,9 @@ Telemetry is enabled using the 'TELEMETRY' feature.
feature TELEMETRY feature TELEMETRY
``` ```
Multiple telemetry providers are currently supported, FrSky, Graupner Multiple telemetry providers are currently supported, FrSky, Graupner HoTT V4, SmartPort (S.Port), LightTelemetry (LTM). MAVLink, IBUS, Crossfire and GSM SMS.
HoTT V4, SmartPort (S.Port) and LightTelemetry (LTM)
All telemetry systems use serial ports, configure serial ports to use the telemetry system required. All telemetry systems use serial ports, configure serial ports to use the telemetry system required. Multiple telemetry streams may be enabled, but only one of each type, e.g. Smartport + LTM or MAVLink + CRSF.
## SmartPort (S.Port) telemetry ## SmartPort (S.Port) telemetry
@ -204,50 +203,38 @@ Note: The SoftSerial ports may not be 5V tolerant on your board. Verify if you
## LightTelemetry (LTM) ## LightTelemetry (LTM)
LTM is a lightweight streaming telemetry protocol supported by a LTM is a lightweight streaming telemetry protocol supported by a number of OSDs, ground stations and antenna trackers.
number of OSDs, ground stations and antenna trackers.
The INAV implementation of LTM implements the following frames: The INAV implementation of LTM implements the following frames:
* G-FRAME: GPS information (lat, long, ground speed, altitude, sat * G-FRAME: GPS information (lat, long, ground speed, altitude, sat info)
info)
* A-FRAME: Attitude (pitch, roll, heading) * A-FRAME: Attitude (pitch, roll, heading)
* S-FRAME: Status (voltage, current+, RSSI, airspeed+, status). Item * S-FRAME: Status (voltage, current+, RSSI, airspeed+, status). Item suffixed '+' not implemented in INAV.
suffixed '+' not implemented in INAV.
* O-FRAME: Origin (home position, lat, long, altitude, fix) * O-FRAME: Origin (home position, lat, long, altitude, fix)
In addition, in iNav: In addition, in iNav:
* N-FRAME: Navigation information (GPS mode, Nav mode, Nav action, * N-FRAME: Navigation information (GPS mode, Nav mode, Nav action, Waypoint number, Nav Error, Nav Flags).
Waypoint number, Nav Error, Nav Flags).
* X-FRAME: Extra information. Currently HDOP is reported. * X-FRAME: Extra information. Currently HDOP is reported.
LTM is transmit only, and can work at any supported baud rate. It is LTM is transmit only, and can work at any supported baud rate. It is designed to operate over 2400 baud (9600 in INAV) and does not benefit from higher rates. It is thus usable on soft serial.
designed to operate over 2400 baud (9600 in INAV) and does not
benefit from higher rates. It is thus usable on soft serial.
A CLI variable `ltm_update_rate` may be used to configure the update A CLI variable `ltm_update_rate` may be used to configure the update rate and hence band-width used by LTM, with the following enumerations:
rate and hence band-width used by LTM, with the following enumerations:
* NORMAL: Legacy rate, currently 303 bytes/second (requires 4800 bps) * NORMAL: Legacy rate, currently 303 bytes/second (requires 4800 bps)
* MEDIUM: 164 bytes/second (requires 2400 bps) * MEDIUM: 164 bytes/second (requires 2400 bps)
* SLOW: 105 bytes/second (requires 1200 bps) * SLOW: 105 bytes/second (requires 1200 bps)
For many telemetry devices, there is direction correlation between the For many telemetry devices, there is direction correlation between the air-speed of the radio link and range; thus a lower value may facilitate longer range links.
air-speed of the radio link and range; thus a lower value may
facilitate longer range links.
More information about the fields, encoding and enumerations may be More information about the fields, encoding and enumerations may be found [on the wiki](https://github.com/iNavFlight/inav/wiki/Lightweight-Telemetry-(LTM)).
found at https://github.com/iNavFlight/inav/wiki/Lightweight-Telemetry-(LTM).
## MAVLink telemetry ## MAVLink telemetry
MAVLink is a very lightweight, header-only message marshalling library for micro air vehicles. MAVLink is a lightweight header-only message marshalling library for micro air vehicles. INAV supports MAVLink for compatibility with ground stations, OSDs and antenna trackers built for PX4, PIXHAWK, APM and Parrot AR.Drone platforms.
INAV supports MAVLink for compatibility with ground stations, OSDs and antenna trackers built
for PX4, PIXHAWK, APM and Parrot AR.Drone platforms.
MAVLink implementation in INAV is transmit-only and usable on low baud rates and can be used over soft serial. MAVLink implementation in INAV is transmit-only and usable on low baud rates and can be used over soft serial (requires 19200 baud). MAVLink V1 and V2 are supported.
## Cellular telemetry via text messages ## Cellular telemetry via text messages