parrot无人机蓝牙协议

2024-04-23 08:49:54

Services

Short UUID of published services are (Controller side)

ARCOMMAND_SENDING_SERVICE "FA00"   用于发送指令给无人机ARCOMMAND_RECEIVING_SERVICE "FB00"    用于接收无人机notification数据PERFORMANCE_COUNTER_SERVICE "FC00"  NORMAL_BLE_FTP_SERVICE "FD21" UPDATE_BLE_FTP_SERVICE "FD51" UPDATE_RFCOMM_SERVICE "FE00"

Short UUIDs are derived from the 3rd and 4th bytes of the BLE service full UUID.

For exemple for a sending service UUID:9a66fa00-0800-9191-11e4-012d1540cb8e

Characteristics

ARCOMMAND_SENDING_SERVICE and ARCOMMAND_RECEIVING_SERVICE each have 16 characteristics corresponding to the 16 IO channels.

Send characteristics

ARCOMMAND_SENDING_SERVICE characteristics are configured in mode “Write Without Response”.

Only the four following characteristics are used for sending:

Characteristic id Channel use0x0A (10) 发送无响应数据0x0B (11) 发送有相应数据0x0C (12) 发送优先级高的命令0x1E (30) 确认已收到命令应答

Receive characteristics

ARCOMMAND_RECEIVING_SERVICE characteristics are configured in mode “Notify”.

Only the four following characteristics are used for receiving:

Characteristic id Channel use0x0E (14) Receive commands with ACK0x0F (15) Receive commands without ACK0x1B (27) Acknowledgment for device commands with ACK0x1C (28) Acknowledgment for high priority commands

Characteristic ids are derived from the 4th byte of the BLE characteristic full UUID.

For exemple for the no-ACK send command characteristic id:9a66fa0a-0800-9191-11e4-012d1540cb8e

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