External Device Requesting Telemetry Messages Manually from ArduPlane


I’m interested in using ArduPlane in my application and have been reading through the documentation regarding telemetry. It seems that a message rate is set, ie. 1-10Hz, and ArduPlane will output whatever telemetry you ask it to at that rate.

In my application the host controller (Arduino) will need to request the current attitude information at irregular intervals, determined by other factors, not at an ongoing rate of x times per second. For example; request-receive, 4 seconds pass, request-receive, 20 seconds pass, request-receive, etc.

  1. Is this possible?
  2. Also is it possible to only receive one piece of information, such as just roll angle? Or will it send all attitude data and the host needs to extract the roll angle from it?

Thanks in advance.