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Rescue Macros & Custom MAVLink IDs

This document defines the communication standards and Macro command sets for the THAP Rescue Variant to ensure data sovereignty and maximize rescue operational efficiency.

We reserve IDs 180 - 200 for THAP-specific messaging:

Message ID Message name Description
180 THAP_RESCUE_STATUS Transmits rescue status (0: Normal, 1: Found Victim, 2: Hazmat Detected, 3: ASAP)
181 THAP_MESH_INFO Mesh network performance data (Unit ID, Signal Strength, Hop Count)
182 THAP_SOVEREIGNTY_CHECK Hardware identification system to verify data integrity

🏎️ Macro: LAND RESCUE (Rover)

Command set for tuning THAP_ROVER for missions in landslide or urban rubble environments.

📈 Parameters (Optimized for Thai Terrain)

Parameter Value Rationale
ATC_RAT_STR_P 0.35 Increases steering response for precision on rough surfaces.
ATC_RAT_STR_I 0.12 Maintains heading when wheels are bogged down or hitting obstacles.
ATC_RAT_STR_D 0.04 Dampens kickback from impacting rubble.
CRUISE_SPEED 0.8 Safe operational speed in disaster zones (m/s) to prevent roll-over.
BATT_LOW_VOLT 10.8 Set higher than usual to ensure reserve power for Mesh relaying duties.
FS_THR_ENABLE 2 Failsafe Hold: Stop in place on signal loss (avoids collision risks of RTH).

🔵 Macro: AERIAL SUPP (Sky)

Command set for wildfire surveillance and rapid medical supply delivery.

📈 Parameters (Aerial Response)

Parameter Value Rationale
ATC_ANG_PIT_P 6.0 Sharpens Pitch axis response for high winds in mountain valleys.
BATT_FS_VOLT 14.8 Battery safety threshold for 4S packs (3.7V per cell).
WP_YAW_BEH 3 Always point the AI camera towards the next waypoint for continuous detection.
THAP_AI_SMOKE 1 Enables the AI smoke/fire detection system.

🟢 Macro: MARINE SAR (See)

Toolsets for boats or ROVs in flood response and dam inspection missions.

📈 Parameters (Flood Response)

Parameter Value Rationale
ATC_RAT_YAW_P 0.28 Keeps the bow steady in fast river currents.
LOIT_SPEED_MAX 1.2 Limits speed so sensors can perform the most detailed underwater scans.

🔴 Macro: HAZMAT/EOD (Robot)

Command set for robotic arms in EOD and chemical handling missions.

📈 Parameters (Precision & Low Latency)

Parameter Value Rationale
MOT_SLEW_RATE 20 Controls motor acceleration for maximum smoothness.
ATC_INPUT_TC 0.1 Sharpens response for real-time control feel.
SR1_EXTRA1 50 Pushes state data at 50Hz for high-precision control visualization.
THAP_ARM_PRECISION 1 Enables high-resolution robotic arm control mode.

📡 5G/Network Command Connectivity

THAP supports Private 5G/IP Network links to extend operational range:

  • Protocol: UDP/TCP MAVLink Stream.
  • Security: Supports end-to-end data encryption from endpoint to command center.
  • Latency: Implements QoS (Quality of Service) for robotic arm commands with highest priority.

⚡ Macro Execution Logic (Configurator)

When a responder starts the "Rescue Wizard", the following logic is executed: 1. Handshake: Sends THAP_SOVEREIGNTY_CHECK to verify vehicle identity. 2. Bulk Sync: Transmits the macro parameters via MAVLink PARAM_SET one by one. 3. Verification: Checks for successful persistence in the vehicle's Flash memory. 4. Operational Mode: Switches the interface to the appropriate Mission Control theme.