Hi Guys
I thought you would want to know that the spreadsheet defining the Frsky Mavlink Passthrough Protocol linked on this page http://ardupilot.org/copter/docs/common-frsky-passthrough.html contains an error.
Data ID 5004 - HOME (2Hz)
The published order of the data elements from the LS bit side is:
Distance to home
Angle from front of vehicle
Altitude relative to home - offset 19 bits - WRONG
The actual order of the data elements from LS bit side is:
Distance to home
Altitude relative to home - offset 12 bits
Angle from front of vehicle
as per these define statements in the APMv3.5.3 Arducopter source
// for home position related data
#define HOME_ALT_OFFSET 12
#define HOME_BEARING_LIMIT 0x7F
#define HOME_BEARING_OFFSET 25
The spreadsheet should be correct don’t you think? It is currently the only definition of Mavlink Passthrough in the public domain as far as I know,
Regards
Eric