Autopilot

Aran Dokoupil — Tue, 16 Jun 2026 10:37:21 GMT

CAN Bus Format

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	The 0x251 status bits are: 0 wings enabled, 1 left sensor fresh, 2 right sensor fresh, 3 both fresh, 4 control height valid, 5 control source = EKF, 6 EKF healthy, 7 EKF initialised, 8 home set, 9 EKF origin set, 10 EKF height (HAGL) available, 11 EKF velocity available.		The 0x251 status bits are: 0 wings enabled, 1 left sensor fresh, 2 right sensor fresh, 3 both fresh, 4 control height valid, 5 control source = EKF, 6 EKF healthy, 7 EKF initialised, 8 home set, 9 EKF origin set, 10 EKF height (HAGL) available, 11 EKF velocity available.

	The ~~rudder/~~steering angle (from the ~~ATSAMD20 MCU)~~ is planned to be ~~added~~ to ~~this bus and fed forward into~~ the controller.		Byte 6 of <code>0x251</code> is the ArduPlane flight-mode number as reported by the autopilot. In normal operation the script only commands two: <code>0</code> = MANUAL (foils disabled / neutral) and <code>5</code> = FBWA (active stabilisation). Any other value means the mode was changed elsewhere (e.g. from the GCS); see the [https://ardupilot.org/plane/docs/flight-modes.html ArduPlane flight-mode list] for the full enumeration.

			The steering angle come from the rudder controller and is planned to be used as roll input to the controller.

	== Future plans ==		== Future plans ==

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