http://diydrones.com/profiles/blogs/ardupilot-telemetry-protocol
El autor dice al final:
"I know the protocol sucks but is very flexible and i can add and remove new strings when ever i want without damaging the parsing of every groundstation. In ArduPilot Mega i will use ONLY binary protocol with Message ID's, Payload Bytes and CheckSums, better/faster/efficient/flexible..
"
Hay que explorar si vamos a usar esto como una base para la comunicacion con el ArduRC.
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