A “Goto” is a maneuver specifying a movement of the vehicle to a target waypoint. The waypoint is described by the WGS-84 waypoint coordinate and target Z reference.
Mandatory parameters defined for a “Goto” are timeout, speed and speed units.
Optional parameters may be defined for the target Euler Angles (roll, pitch and yaw) though these parameters may not be considered by all maneuver controllers in charge of the execution of this type of maneuver.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Timeout | timeout | s | uint16_t | The amount of time the maneuver is allowed to run. | Same as field type |
| Latitude WGS-84 | lat | rad | fp64_t | WGS-84 Latitude of target waypoint. | Same as field type |
| Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude of target waypoint. | 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 |
| Z Units | z_units | Enumerated | uint8_t | Units of the z reference. | Same as field type |
| Speed | speed | - | fp32_t | Maneuver speed reference. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Speed units. | Same as field type |
| Roll | roll | rad | fp64_t | The phi Euler angle in which the vehicle should set its attitude. Use ‘-1’ for this field to be unconsidered. Otherwise the value spans from 0 to 2 Pi. | Same as field type |
| Pitch | pitch | rad | fp64_t | The theta Euler angle in which the vehicle should set its attitude. Use ‘-1’ for this field to be disconcerted. Otherwise the value spans from 0 to 2 Pi. | Same as field type |
| Yaw | yaw | rad | fp64_t | The psi Euler angle in which the vehicle should set its attitude. Use ‘-1’ for this field to be considered. Otherwise the value spans from 0 to 2 Pi. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
The Pop Up maneuver makes the vehicle come to the surface at a specific waypoint. This maneuver is restricted to underwater vehicles.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Timeout | timeout | s | uint16_t | The amount of time the maneuver is allowed to run. If the maneuver is not completed in the amount of time specified an error will be generated. | 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 Reference | z | m | fp32_t | Maneuver reference in the z axis. 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 |
| Speed | speed | - | fp32_t | Maneuver speed reference. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Speed units. | Same as field type |
| Duration | duration | s | uint16_t | The duration of this maneuver at surface level. Only used if flag WAIT_AT_SURFACE is on. | Same as field type |
| Radius | radius | m | fp32_t | Radius of the maneuver. Only used if flag STATION_KEEP is on. | Same as field type |
| Flags | flags | Bitfield | uint8_t | Flags of the maneuver. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
The Teleoperation Maneuver lets the vehicle be controlled by an external human operator.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
The Loiter maneuver makes the vehicle circle around a specific waypoint with fixed depth reference.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Timeout | timeout | s | uint16_t | The timeout indicates the time that an error should occur if exceeded. | 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 | Maneuver reference in the z axis. 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 |
| Duration | duration | s | uint16_t | The duration of this maneuver. Use ‘0’ for unlimited duration time. | Same as field type |
| Speed | speed | - | fp32_t | Maneuver speed reference. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Speed units. | Same as field type |
| Loiter Type | type | Enumerated | uint8_t | Loiter maneuver type. | Same as field type |
| Radius | radius | m | fp32_t | Radius of the maneuver. | Same as field type |
| Length | length | m | fp32_t | Length of the maneuver. | Same as field type |
| Bearing | bearing | rad | fp64_t | Bearing of the maneuver. | Same as field type |
| Direction | direction | Enumerated | uint8_t | Desired direction. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
Causes the vehicle to stay idle for some time.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Duration | duration | s | uint16_t | Optional duration of the Idle maneuver. Use ‘0’ for unlimited duration time (maneuver will have to be explicitly stopped). | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
Low level maneuver that sends a (heading, roll, speed, ...) reference to a controller of the vehicle and then optionally lingers for some time.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Control | control | - | message | Control command: can be of type DesiredZ, DesiredHeading, DesiredRoll, DesiredPitch, DesiredSpeed, or DesiredPath. | Same as field type |
| Duration | duration | s | uint16_t | Duration of the control. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
Rows maneuver (i.e: lawn mower type maneuver)
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Timeout | timeout | s | uint16_t | The amount of time the maneuver is allowed to run. | Same as field type |
| Latitude WGS-84 | lat | rad | fp64_t | WGS-84 Latitude of target waypoint. | Same as field type |
| Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude of target waypoint. | Same as field type |
| Z Reference | z | m | fp32_t | Maneuver reference in the z axis. 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 |
| Speed | speed | - | fp32_t | Maneuver speed reference. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Speed units. | Same as field type |
| Bearing | bearing | rad | fp64_t | Rows bearing angle. | Same as field type |
| Cross Angle | cross_angle | rad | fp64_t | Rows cross angle reference. | Same as field type |
| Width | width | m | fp32_t | Width of the maneuver. | Same as field type |
| Length | length | m | fp32_t | Length of the maneuver. | Same as field type |
| Horizontal Step | hstep | m | fp32_t | Horizontal step. | Same as field type |
| Curve Offset | coff | m | uint8_t | Desired curve offset. | Same as field type |
| Alternation Parameter | alternation | % | uint8_t | Alternation parameter. | Same as field type |
| Flags | flags | Bitfield | uint8_t | Maneuver flags. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
Maneuver constituted by a list of Path Points.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Timeout | timeout | s | uint16_t | The amount of time the maneuver is allowed to run. | Same as field type |
| Latitude WGS-84 | lat | rad | fp64_t | WGS-84 Latitude of start point. | Same as field type |
| Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude of start point. | Same as field type |
| Z Reference | z | m | fp32_t | Maneuver reference in the z axis. 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 |
| Speed | speed | - | fp32_t | Maneuver speed reference. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Speed units. | Same as field type |
| Path Points | points | - | message-list | List of PathPoint messages, encoding the path points. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
Waypoint coordinate of a Follow Path maneuver.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| North Offset (m) | x | m | fp32_t | The North offset of the North/East/Down coordinate of this point in relation to the path start point. | Same as field type |
| East Offset (m) | y | m | fp32_t | The East offset of the North/East/Down coordinate of this point in relation to the path start point. | Same as field type |
| Down Offset (m) | z | m | fp32_t | The Down offset of the North/East/Down coordinate of this point in relation to the path start point. | Same as field type |
A “yo-yo” is a maneuver specifying a vehicle movement to a target waypoint in which depth/altitude varies along the way between two values with a desired pitch angle.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Timeout | timeout | s | uint16_t | The amount of time the maneuver is allowed to run. | Same as field type |
| Latitude WGS-84 | lat | rad | fp64_t | WGS-84 Latitude of target waypoint. | Same as field type |
| Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude of target waypoint. | Same as field type |
| Z Reference | z | m | fp32_t | Maneuver reference in the z axis. 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 |
| Amplitude | amplitude | m | fp32_t | Amplitude. | Same as field type |
| Pitch Angle | pitch | rad | fp32_t | Pitch angle for use in ascent/descent. | Same as field type |
| Speed | speed | - | fp32_t | Maneuver speed reference. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Speed units. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
Notification of completion of a Teleoperation maneuver.
This message has no fields.
The Station Keeping maneuver makes the vehicle come to the surface and then enter a given circular perimeter around a waypoint coordinate for a certain amount of time.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| 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 Reference | z | m | fp32_t | Maneuver reference in the z axis. 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 |
| Radius | radius | m | fp32_t | Radius. | Same as field type |
| Duration | duration | s | uint16_t | Duration (0 for unlimited). | Same as field type |
| Speed | speed | - | fp32_t | The value of the desired speed, in the scale specified by the “Speed Units” field. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Indicates the units used for the speed value. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
The Elevator maneuver specifies a vehicle to reach a target waypoint using a cruise altitude/depth and then ascend or descend to another target altitude/depth. The ascent/descent slope and radius can also be optionally specified.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Timeout | timeout | s | uint16_t | The amount of time the maneuver is allowed to run. If the maneuver is not completed in the amount of time specified an error will be generated. | Same as field type |
| Flags | flags | Bitfield | uint8_t | Flags of the maneuver. | 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 |
| Start Point – Z Reference | start_z | m | fp32_t | Altitude or depth of start point. This parameter will be ignored if the ‘NO_Z’ flag is set, or if the ‘START’ flag is not set. | Same as field type |
| Start Point – Z Units | start_z_units | Enumerated | uint8_t | Units of the start point’s z reference. | Same as field type |
| End Point – Z Reference | end_z | m | fp32_t | Depth or altitude for the end point. This parameter will be ignored if the ‘NO_Z’ flag is set. | Same as field type |
| End Point – Z Units | end_z_units | Enumerated | uint8_t | Units of the end point’s z reference. | Same as field type |
| Radius | radius | m | fp32_t | Radius for use in ascent/descent. If 0 the controller to should use a custom control strategy. | Same as field type |
| Speed | speed | - | fp32_t | Maneuver speed. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Speed units. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
Maneuver constituted by a list of Trajectory Points.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Timeout | timeout | s | uint16_t | The amount of time the maneuver is allowed to run. | Same as field type |
| Latitude WGS-84 | lat | rad | fp64_t | WGS-84 Latitude for start point. | Same as field type |
| Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude for start point. | Same as field type |
| Z Reference | z | m | fp32_t | Maneuver reference in the z axis. 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 |
| Speed | speed | - | fp32_t | Maneuver speed. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Speed units. | Same as field type |
| Trajectory Points | points | - | message-list | List of trajectory points. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
Waypoint coordinate of a Follow Trajectory maneuver.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| North Offset (m) | x | m | fp32_t | The North offset of the North/East/Down coordinate of this point in relation to the trajectory start point. | Same as field type |
| East Offset (m) | y | m | fp32_t | The East offset of the North/East/Down coordinate of this point in relation to the trajectory start point. | Same as field type |
| Down Offset (m) | z | m | fp32_t | The Down offset of the North/East/Down coordinate of this point in relation to the trajectory start point. | Same as field type |
| Time Offset (s) | t | s | fp32_t | The time offset relative to the previous trajectory point. | Same as field type |
The Custom Maneuver message may be used as specification of a very specific maneuver not covered by the IMC scope. The settings of the maneuver are just its id, timeout and other settings encoded as a tuple list.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Timeout | timeout | s | uint16_t | The amount of time the maneuver is allowed to run. If the maneuver is not completed in the amount of time specified an error will be generated. | Same as field type |
| Maneuver Name | name | - | plaintext | The maneuver name, used as key by an implementation to bind the maneuver to the corresponding controller. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
Coordinate maneuver using two or more cooperating systems.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Latitude WGS-84 | lat | rad | fp64_t | WGS-84 Latitude for start point. | Same as field type |
| Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude for start point. | Same as field type |
| Z Reference | z | m | fp32_t | Maneuver reference in the z axis. 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 |
| Speed | speed | - | fp32_t | Reference speed. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Reference speed units. | Same as field type |
| Trajectory Points | points | - | message-list | List of trajectory points. | Same as field type |
| Formation Participants | participants | - | message-list | List of formation participants. | Same as field type |
| Start Time | start_time | s | fp64_t | Optional start time hint for vehicle formation. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
Definition of a vehicle participant in a VehicleFormation maneuver.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| ID (IMC address) | vid | - | uint16_t | IMC address of vehicle. | Same as field type |
| Formation offset – Along-track | off_x | m | fp32_t | Distance that the system must respect along the xx axis. | Same as field type |
| Formation offset – Cross-track | off_y | m | fp32_t | Distance that the system must respect along the yy axis. | Same as field type |
| Formation offset – Depth/Altitude | off_z | m | fp32_t | Distance that the system must respect along the zz axis. | Same as field type |
Command used to stop currently executing maneuver.
This message has no fields.
Command used to indicate maneuver can be executed in the vehicle.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Maneuver ID | mid | - | uint16_t | IMC serialization ID of maneuver type. | Same as field type |
Maneuver control state.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| State | state | Enumerated | uint8_t | Code indicating maneuver state. | Same as field type |
| Completion Time | eta | s | uint16_t | Estimated time to completion of the maneuver, when executing. The value will be 65535 if the time is unknown or undefined. | Same as field type |
| Info | info | - | plaintext | Complementary information, e.g., regarding errors. | Same as field type |
System-following maneuver.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| System To Follow | system | - | uint16_t | IMC address of system to follow. | Same as field type |
| Duration | duration | s | uint16_t | Duration of maneuver, 0 for unlimited duration. | Same as field type |
| Speed | speed | - | fp32_t | Reference speed. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Reference speed units. | Same as field type |
| Offset – X | x | - | fp32_t | Along-track offset. | Same as field type |
| Offset – Y | y | - | fp32_t | Cross-track offset. | Same as field type |
| Coordinate – Z | z | - | fp32_t | Coordinate z during follow maneuver. 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 |
In this maneuver, a vehicle drives to the center of two other systems (a, b) in order to be used as a communications relay.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Latitude WGS-84 | lat | rad | fp64_t | WGS-84 Latitude for start point. | Same as field type |
| Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude for start point. | Same as field type |
| Speed | speed | - | fp32_t | Reference speed. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Reference speed units. | Same as field type |
| Duration | duration | s | uint16_t | Duration of maneuver, 0 for unlimited duration. | Same as field type |
| System A | sys_a | - | uint16_t | The IMC id of the system A. | Same as field type |
| System B | sys_b | - | uint16_t | The IMC id of the system B. | Same as field type |
| Move threshold | move_threshold | m | fp32_t | Move only if the distance to the target is bigger than this threshold. | Same as field type |
Given a polygonal area, generates trajectories to cover the area.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Latitude WGS-84 | lat | rad | fp64_t | WGS-84 Latitude for start point. | Same as field type |
| Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude for start point. | Same as field type |
| Z Reference | z | m | fp32_t | Maneuver reference in the z axis. 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 |
| Speed | speed | - | fp32_t | Reference speed. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Reference speed units. | Same as field type |
| Polygon | polygon | - | message-list | Message list of type PolygonVertex. | Same as field type |
| CustomParameters | custom | TupleList | plaintext | Additional parameters to be used by the controller. | Same as field type |
This message is used to store the various polygon vertices for CoverArea maneuvers.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Latitude WGS-84 | lat | rad | fp64_t | WGS-84 Latitude for start point. | Same as field type |
| Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude for start point. | Same as field type |
This maneuver is a mix between the Loiter maneuver and the YoYo maneuver. The vehicle cirlcles around a specific waypoint with a variable Z reference between a minimum and maximum value.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Timeout | timeout | s | uint16_t | The timeout indicates the time that an error should occur if exceeded. | 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 | Maneuver reference in the z axis. 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 |
| Pitch | pitch | rad | fp32_t | Pitch angle used to perform the maneuver. | Same as field type |
| Amplitude | amplitude | m | fp32_t | Yoyo motion amplitude. | Same as field type |
| Duration | duration | s | uint16_t | The duration of this maneuver. Use ‘0’ for unlimited duration time. | Same as field type |
| Speed | speed | - | fp32_t | Maneuver speed. | Same as field type |
| Speed Units | speed_units | Enumerated | uint8_t | Speed units. | Same as field type |
| Radius | radius | m | fp32_t | Radius of the maneuver. | Same as field type |
| Direction | direction | Enumerated | uint8_t | Direction of the maneuver. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
A “Formation” is defined by the relative positions of the vehicles inside the formation, and the reference frame where this positions are defined.
The formation reference frame may be: - Earth Fixed: Where the vehicles relative position do not depend on the followed path. This results in all UAVs following the same path with an offset relative to each other; - Path Fixed: Where the vehicles relative position depends on the followed path, changing the inter-vehicle offset direction with the path direction. - Path Curved: Where the vehicles relative position depends on the followed path, changing the inter-vehicle offset direction with the path direction and direction change rate. An offset in the xx axis results in a distance over the curved path line. An offset in the yy axis results in an offset of the vehicle path line relative to the formation center path line.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Formation Name | formation_name | - | plaintext | Name of the formation configuration. | Same as field type |
| Formation Reference Frame | reference_frame | Enumerated | uint8_t | Formation reference frame | Same as field type |
| Formation Participants | participants | - | message-list | List of formation participants. | Same as field type |
| Custom settings for formation | custom | TupleList | plaintext | Custom settings for the formation configuration. | Same as field type |
A “Formation Plan” is a maneuver specifying a plan for a team of vehicles. The maneuver defines: - Vehicles included in the formation group - Formation shape configuration - Plan (set of maneuvers) to be followed by the formation center - Speed at which that plan is followed - Path contrains (virtual leader bank limit) - Supervision settings
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Target Group Name | group_name | - | plaintext | Target group for the formation plan. | Same as field type |
| Formation Name | formation_name | - | plaintext | Name of the formation configuration. | Same as field type |
| Formation Plan ID | plan_id | - | plaintext | The flight plan’s identifier. Flight plan defined to be tracked by the formation leader. | Same as field type |
| Plan Description | description | - | plaintext | Verbose text description of plan. | Same as field type |
| Formation Leader Flight Airspeed | leader_speed | m/s | fp32_t | Formation leader flight airspeed during the plan tracking. | Same as field type |
| Formation leader flight bank limit | leader_bank_lim | m/s | fp32_t | Formation leader flight bank limit during the plan tracking. | Same as field type |
| Position mismatch limit | pos_sim_err_lim | m | fp32_t | Limit for the position mismatch between real and simulated position, before a maneuver abort is asserted. | Same as field type |
| Position mismatch threshold | pos_sim_err_wrn | m | fp32_t | Warning threshold for the position mismatch between real and simulated position. Above this threshold a time-out limit is evaluated to assert a maneuver abort state. | Same as field type |
| Position mismatch time-out | pos_sim_err_timeout | s | uint16_t | The amount of time the maneuver is allowed to run after the position mismatch threshold is surpassed. | Same as field type |
| Convergence threshold | converg_max | m | fp32_t | Threshold for the convergence measure, above which a time-out limit is evaluated to assert a maneuver abort state. | Same as field type |
| Convergence time-out | converg_timeout | s | uint16_t | The amount of time the maneuver is allowed to run after the convergence threshold is surpassed. | Same as field type |
| Communications time-out | comms_timeout | s | uint16_t | The amount of time the maneuver is allowed to run without any update on the other formation vehicles states. | Same as field type |
| Turbulence limit | turb_lim | m/s | fp32_t | Turbulence limit above which a maneuver abort is asserted. | Same as field type |
| Custom settings for maneuver | custom | TupleList | plaintext | Custom settings for maneuver. | Same as field type |
This maneuver follows a reference given by an external entity.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Controlling Source | control_src | - | uint16_t | The IMC identifier of the source system that is allowed to provide references to this maneuver. If the value ‘‘0xFFFF’’ is used, any system is allowed to command references. | Same as field type |
| Controlling Entity | control_ent | - | uint8_t | The entity identifier of the entity that is allowed to provide references to this maneuver. If the value ‘‘0xFF’’ is used, any entity is allowed to command references. | Same as field type |
| Reference Update Timeout | timeout | - | fp32_t | The ammount of time, in seconds, after which the maneuver will be terminated if no reference has been received. In other words, the controlling entity should send reference updates in shorter periods than ‘timeout’. | Same as field type |
| Loiter Radius | loiter_radius | - | fp32_t | Whenever an intended reference is achieved, this maneuver will maintain the vehicle in vaticiny of that location. The loiter radius is used to define the radius of this (xy) area. | Same as field type |
| Altitude Interval | altitude_interval | - | fp32_t | Similarly to Loiter Radius, this field is used to define the “z” distance considered to be inside the vacitiny of the target location. An AUV may, for instance, be floating until it more than z units above the current reference, in which case it actively changes its position in order to achieve the desired depth / altitude. | Same as field type |
No description
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Flags | flags | Bitfield | uint8_t | Same as field type | |
| Speed Reference | speed | - | message | Same as field type | |
| Z Reference | z | - | message | Same as field type | |
| Latitude Reference | lat | - | fp64_t | Same as field type | |
| Longitude Reference | lon | - | fp64_t | Same as field type | |
| Radius | radius | - | fp32_t | Same as field type |
No description
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Controlling Source | control_src | - | uint16_t | The IMC identifier of the source system that is allowed to control the vehicle. If the value ‘‘0xFFFF’’ is used, any system is allowed to command references. | Same as field type |
| Controlling Entity | control_ent | - | uint8_t | The entity identifier of the entity that is allowed to control the vehicle. If the value ‘‘0xFF’’ is used, any entity is allowed to command references. | Same as field type |
| Reference | reference | - | message | Reference currently being followed. | Same as field type |
| State | state | Enumerated | uint8_t | Same as field type | |
| Proximity | proximity | Bitfield | uint8_t | Same as field type |
Monitoring variables for the formation state and performance.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Commanded X Acceleration (North) | ax_cmd | - | fp32_t | Commanded acceleration computed by the formation controller: northward direction. On the vehicle directional reference frame. Constrained by the vehicle operational limits. | Same as field type |
| Commanded Y Acceleration (East) | ay_cmd | - | fp32_t | Commanded acceleration computed by the formation controller: eastward direction. On the vehicle directional reference frame. Constrained by the vehicle operational limits. | Same as field type |
| Commanded Z Acceleration (Down) | az_cmd | - | fp32_t | Commanded acceleration computed by the formation controller: downward direction. On the vehicle directional reference frame. Constrained by the vehicle operational limits. | Same as field type |
| Desired X Acceleration (North) | ax_des | - | fp32_t | Desired acceleration computed by the formation controller: northward direction. On the fixed reference frame. | Same as field type |
| Desired Y Acceleration (East) | ay_des | - | fp32_t | Desired acceleration computed by the formation controller: eastward direction. On the fixed reference frame. | Same as field type |
| Desired Z Acceleration (Down) | az_des | - | fp32_t | Desired acceleration computed by the formation controller: downward direction. On the fixed reference frame. | Same as field type |
| X Virtual Error (North) | virt_err_x | - | fp32_t | Components of the vehicle desired acceleration. Overall formation combined virtual error: northward direction. On the fixed reference frame. | Same as field type |
| Y Virtual Error (East) | virt_err_y | - | fp32_t | Components of the vehicle desired acceleration. Overall formation combined virtual error: eastward direction. On the fixed reference frame. | Same as field type |
| Z Virtual Error (Down) | virt_err_z | - | fp32_t | Components of the vehicle desired acceleration. Overall formation combined virtual error: downward direction. On the fixed reference frame. | Same as field type |
| X Sliding Surface Feedback (North) | surf_fdbk_x | - | fp32_t | Components of the vehicle desired acceleration. Overall formation combined sliding surface feedback: northward direction. On the fixed reference frame. | Same as field type |
| Y Sliding Surface Feedback (East) | surf_fdbk_y | - | fp32_t | Components of the vehicle desired acceleration. Overall formation combined sliding surface feedback: eastward direction. On the fixed reference frame. | Same as field type |
| Z Sliding Surface Feedback (Down) | surf_fdbk_z | - | fp32_t | Components of the vehicle desired acceleration. Overall formation combined sliding surface feedback: downward direction. On the fixed reference frame. | Same as field type |
| X Uncertainty Compensation (North) | surf_unkn_x | - | fp32_t | Components of the vehicle desired acceleration. Dynamics uncertainty compensation: northward direction. | Same as field type |
| Y Uncertainty Compensation (East) | surf_unkn_y | - | fp32_t | Components of the vehicle desired acceleration. Dynamics uncertainty compensation: eastward direction. | Same as field type |
| Z Uncertainty Compensation (Down) | surf_unkn_z | - | fp32_t | Components of the vehicle desired acceleration. Dynamics uncertainty compensation: downward direction. | Same as field type |
| X Convergence Deviation (North) | ss_x | - | fp32_t | Combined deviation from convergence (sliding surface): North component. | Same as field type |
| Y Convergence Deviation (East) | ss_y | - | fp32_t | Combined deviation from convergence (sliding surface): East component. | Same as field type |
| Z Convergence Deviation (Down) | ss_z | - | fp32_t | Combined deviation from convergence (sliding surface): Down component. | Same as field type |
| Relative State | rel_state | - | message-list | List of RelativeState messages, encoding the inter-vehicle formation state. | Same as field type |
Inter-vehicle formation state.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| System Identifier | s_id | - | plaintext | The identifier of the vehicle whose relative state is being reported. | Same as field type |
| Distance | dist | - | fp32_t | Distance between vehicles. | Same as field type |
| Position Error | err | - | fp32_t | Relative position error norm. | Same as field type |
| Control Importance | ctrl_imp | - | fp32_t | Weight in the computation of the desired acceleration. | Same as field type |
| Relative Direction X (North) | rel_dir_x | - | fp32_t | Inter-vehicle direction vector: North component. | Same as field type |
| Relative Direction Y (East) | rel_dir_y | - | fp32_t | Inter-vehicle direction vector: East component. | Same as field type |
| Relative Direction Z (Down) | rel_dir_z | - | fp32_t | Inter-vehicle direction vector: Down component. | Same as field type |
| X Position Error (North) | err_x | - | fp32_t | Relative position error: North component. | Same as field type |
| Y Position Error (East) | err_y | - | fp32_t | Relative position error: East component. | Same as field type |
| Z Position Error (Down) | err_z | - | fp32_t | Relative position error: Down component. | Same as field type |
| X Position Error In Relative Frame (North) | rf_err_x | - | fp32_t | Relative position error: X component on the inter-vehicle reference frame. | Same as field type |
| Y Position Error In Relative Frame (East) | rf_err_y | - | fp32_t | Relative position error: Y component on the inter-vehicle reference frame. | Same as field type |
| Z Position Error In Relative Frame (Down) | rf_err_z | - | fp32_t | Relative position error: Z component on the inter-vehicle reference frame. | Same as field type |
| X Velocity Error In Relative Frame (North) | rf_err_vx | - | fp32_t | Relative veloctity error: X component in the inter-vehicle reference frame. | Same as field type |
| Y Velocity Error In Relative Frame (East) | rf_err_vy | - | fp32_t | Relative velocity error: Y component on the inter-vehicle reference frame. | Same as field type |
| Z Velocity Error In Relative Frame (Down) | rf_err_vz | - | fp32_t | Relative velocity error: Z component on the inter-vehicle reference frame. | Same as field type |
| X Convergence Deviation (North) | ss_x | - | fp32_t | Deviation from convergence (sliding surface): X component on the inter-vehicle reference frame. | Same as field type |
| Y Convergence Deviation (East) | ss_y | - | fp32_t | Deviation from convergence (sliding surface): Y component on the inter-vehicle reference frame. | Same as field type |
| Z Convergence Deviation (Down) | ss_z | - | fp32_t | Deviation from convergence (sliding surface): Z component on the inter-vehicle reference frame. | Same as field type |
| X Virtual Error (North) | virt_err_x | - | fp32_t | Components of the vehicle desired acceleration. Relative virtual error: northward direction. | Same as field type |
| Y Virtual Error (East) | virt_err_y | - | fp32_t | Components of the vehicle desired acceleration. Relative virtual error: eastward direction. | Same as field type |
| Z Virtual Error (Down) | virt_err_z | - | fp32_t | Components of the vehicle desired acceleration. Relative virtual error: downward direction. | Same as field type |