Target.
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Label | label | - | plaintext | Target identifier. | Same as field type |
Latitude WGS-84 | lat | rad | fp64_t | WGS-84 Latitude coordinate. | Same as field type |
Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude coordinate. | Same as field type |
Z Reference | z | m | fp32_t | Z axis reference. Use z_units to specify whether z represents depth, altitude or other. | Same as field type |
Z Units | z_units | Enumerated | uint8_t | Units of the z reference. | Same as field type |
Course Over Ground | cog | rad | fp32_t | Course Over Ground (true). | Same as field type |
Speed Over Ground | sog | m/s | fp32_t | Speed Over Ground. | Same as field type |
Entity parameter.
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Name | name | - | plaintext | Name of the parameter. | Same as field type |
Value | value | - | plaintext | Current value of the parameter. | Same as field type |
List of entity parameters.
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Entity Name | name | - | plaintext | Name of the entity. | Same as field type |
Parameters | params | - | message-list | List of parameters. | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Entity Name | name | - | plaintext | Same as field type | |
Visibility | visibility | - | plaintext | Same as field type | |
Scope | scope | - | plaintext | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Entity Name | name | - | plaintext | Same as field type | |
Parameters | params | - | message-list | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Entity Name | name | - | plaintext | Same as field type |
Request creating a new session with this remote peer. Example session sequence is shown in the following diagram.
align: | center |
---|
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Session Timeout | timeout | - | uint32_t | Session timeout, in seconds. If no messages are received from the remote peer, the session will be closed after this ammount of seconds have ellapsed. | Same as field type |
Request closing of an ongoing session
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Session Identifier | sessid | - | uint32_t | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Session Identifier | sessid | - | uint32_t | Same as field type | |
Messages to subscribe | messages | - | plaintext | Comma-separated list of messages to subscribe. Example: “EstimatedState,EulerAngles,Temperature” | Same as field type |
Message exchanged to prevent a session from timing out
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Session Identifier | sessid | - | uint32_t | Same as field type |
Message transmitted periodically to inform the state of a communication session
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Session Identifier | sessid | - | uint32_t | Same as field type | |
Status | status | Enumerated | uint8_t | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Entity Name | name | - | plaintext | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Entity Name | name | - | plaintext | Same as field type |
Notification of an I/O event.
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Type | type | Enumerated | uint8_t | Event type. | Same as field type |
Error Message | error | - | plaintext | Human-readable error message. | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Sequence Id | seq | - | uint16_t | Same as field type | |
Destination System | sys_dst | - | plaintext | Same as field type | |
Flags | flags | Bitfield | uint8_t | Same as field type | |
Data | data | - | rawdata | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Source System | sys_src | - | plaintext | Same as field type | |
Destination System | sys_dst | - | plaintext | Same as field type | |
Flags | flags | Bitfield | uint8_t | Same as field type | |
Data | data | - | rawdata | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Sequence Id | seq | - | uint16_t | Same as field type | |
Value | value | Enumerated | uint8_t | Same as field type | |
Error Message | error | - | plaintext | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Sequence Id | seq | - | uint16_t | Same as field type | |
System | sys | - | plaintext | Same as field type | |
Value | value | - | fp32_t | Same as field type |
Formation controller paramenters, as: trajectory gains, control boundary layer thickness, and formation shape gains.
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Action | Action | Enumerated | uint8_t | Action on the vehicle formation control parameters. | Same as field type |
Longitudinal Gain | LonGain | - | fp32_t | Trajectory gain over the vehicle longitudinal direction. | Same as field type |
Lateral Gain | LatGain | - | fp32_t | Trajectory gain over the vehicle lateral direction. | Same as field type |
Boundary Layer Thickness | BondThick | - | uint32_t | Control sliding surface boundary layer thickness. | Same as field type |
Leader Gain | LeadGain | - | fp32_t | Formation shape gain (absolute vehicle position tracking). Leader control importance gain (relative to the sum of every other formation vehicle). | Same as field type |
Deconfliction Gain | DeconflGain | - | fp32_t | Collision avoidance and formation shape gain (position tracking relative to the other formation vehicles). Individual vehicle importance gain (relative to the leader), when the relative position or the velocity state indicate higher probability of collision. | Same as field type |
Formation control performance evaluation variables.
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Mean position error | err_mean | - | fp32_t | Mean position error relative to the formation reference. | Same as field type |
Absolute minimum distance | dist_min_abs | - | fp32_t | Overall minimum distance to any other vehicle in the formation. | Same as field type |
Mean minimum distance | dist_min_mean | - | fp32_t | Mean minimum distance to any other vehicle in the formation. | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Transmission Unique Id | uid | - | uint8_t | Same as field type | |
Fragment Number | frag_number | - | uint8_t | Same as field type | |
Total Number of fragments | num_frags | - | uint8_t | Same as field type | |
Fragment Data | data | - | rawdata | Same as field type |
No description
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
ContentType | content_type | - | plaintext | Same as field type | |
Content | content | - | rawdata | Same as field type |
This message signals that an Abort message was received and acted upon.
This message has no fields.
This message contains information, collected using USBL, about the bearing and elevation of a target.
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Target | target | - | uint16_t | Target’s IMC address. | Same as field type |
Bearing | bearing | rad | fp32_t | Target’s bearing. | Same as field type |
Elevation | elevation | rad | fp32_t | Target’s elevation. | Same as field type |
This message contains information, collected using USBL, about a target’s position.
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Target | target | - | uint16_t | Target’s IMC address. | Same as field type |
X | x | m | fp32_t | X coordinate of the target in the local device’s reference frame. | Same as field type |
Y | y | m | fp32_t | Y coordinate of the target in the local device’s reference frame. | Same as field type |
Z | z | m | fp32_t | Z coordinate of the target in the local device’s reference frame. | Same as field type |
This message contains the WGS-84 position of a target computed using USBL.
Name | Abbreviation | Unit | Type | Description | Range |
---|---|---|---|---|---|
Target | target | - | uint16_t | Target’s IMC address. | Same as field type |
Latitude (WGS-84) | lat | rad | fp64_t | WGS-84 Latitude. | Same as field type |
Longitude (WGS-84) | lon | rad | fp64_t | WGS-84 Longitude. | Same as field type |
Z Units | z_units | Enumerated | uint8_t | Units of the z reference. | Same as field type |
Z Reference | z | m | fp32_t | Target reference in the z axis. Use z_units to specify whether z represents depth, altitude or other. | Same as field type |