Duane Degn
First Officer
Flight distance : 622234 ft
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I think there are two different types of messages. I think the Motion Controller sends a request with the ID as the 8th byte using a baud of 921.6Kbps. The replies come about 90us after the request. The replies use a different baud. I measured the reply baud at 947Kbps. The replies have the ID at the 7th byte. Each byte starts with a start bit and ends with a stop bit.
From what I've seen, the requests (at 921.6Kbps) consist of:
0x55, 0x16, 0x00, 0x9D, 0xA0, 0x00, 0x00, 0x00, ID + 14 additional bytes
Approximate 90us delay between request and reply.
The replies (at 947Kbps) consist of:
0x55, 0x20, 0x00, 0x1A, 0xA0, 0x01, 0x00, ID + 25 additional bytes
The requests repeat every 2.5ms. The requests cycle through the four motor IDs so each motor receives commands at 100Hz. This is twice the control frequency of common hobby servos.
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