This message summarizes the overall state of the vehicle. It can contains information regarding:
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Operation Mode | op_mode | Enumerated | uint8_t | The overall operation mode. | Same as field type |
| Errors – Count | error_count | - | uint8_t | Error count for monitored entitites. | Same as field type |
| Errors – Entities | error_ents | - | plaintext | The monitored entities with error conditions. This is a comma separated list of entity names. | Same as field type |
| Maneuver – Type | maneuver_type | - | uint16_t | Type of maneuver being executed, when in MANEUVER mode. The value is the IMC serialization ID of the corresponding maneuver. | Same as field type |
| Maneuver – Start Time | maneuver_stime | s | fp64_t | Start time of maneuver being executed (Epoch time), when in MANEUVER mode. | Same as field type |
| Maneuver – ETA | maneuver_eta | s | uint16_t | Estimated time for maneuver completion. The value will be 65535 if the time is unknown or undefined. | Same as field type |
| Control Loops | control_loops | Bitfield | uint32_t | Enabled control loops. | Same as field type |
| Flags | flags | Bitfield | uint8_t | Same as field type | |
| Last Error – Description | last_error | - | plaintext | Description of last error. | Same as field type |
| Last Error – Time | last_error_time | s | fp64_t | Time of last error (Epoch time). | Same as field type |
Vehicle command.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Type | type | Enumerated | uint8_t | Same as field type | |
| Request ID | request_id | - | uint16_t | Request ID | Same as field type |
| Command | command | Enumerated | uint8_t | The type of command/action to be performed | Same as field type |
| Maneuver | maneuver | - | message | Maneuver to be executed (for ‘EXEC_MANEUVER’ command) | Same as field type |
| Calibration Time | calib_time | s | uint16_t | Amount of time to calibrate | Same as field type |
| Info | info | - | plaintext | Complementary human-readable information for replies. | Same as field type |
Controls monitoring of entity states in the vehicle.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Command | command | Enumerated | uint8_t | Command. | Same as field type |
| Entity Names | entities | - | plaintext | Comma separated list of entity names. | Same as field type |
No description
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Entities monitored - Count | mcount | - | uint8_t | Number of entitities being monitored. | Same as field type |
| Entities monitored - Names | mnames | - | plaintext | Comma separated list of all entity names being monitored. | Same as field type |
| Entities with errors - Count | ecount | - | uint8_t | Number of entitities with non-critical errors. | Same as field type |
| Entities with errors - Names | enames | - | plaintext | Comma separated list of all entity names with non-critical errors. | Same as field type |
| Entities with critical errors - Count | ccount | - | uint8_t | Number of entitities with critical errors. | Same as field type |
| Entities with critical errors - Names | cnames | - | plaintext | Comma separated list of all entity names with critical errors. | Same as field type |
| Last Error – Description | last_error | - | plaintext | Description of last error. | Same as field type |
| Last Error – Time | last_error_time | s | fp64_t | Time of last error (Epoch time). | Same as field type |
Definition of operational limits.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Field Indicator Mask | mask | Bitfield | uint8_t | Same as field type | |
| Maximum Depth | max_depth | m | fp32_t | Same as field type | |
| Minimum Altitude | min_altitude | m | fp32_t | Same as field type | |
| Maximum Altitude | max_altitude | m | fp32_t | Same as field type | |
| Minimum Speed | min_speed | m/s | fp32_t | Same as field type | |
| Maximum Speed | max_speed | m/s | fp32_t | Same as field type | |
| Maximum Vertical Rate | max_vrate | m/s | fp32_t | Same as field type | |
| Area – WGS-84 Latitude | lat | rad | fp64_t | Same as field type | |
| Area – WGS-84 Longitude | lon | rad | fp64_t | Same as field type | |
| Area – Orientation | orientation | rad | fp32_t | Same as field type | |
| Area – Width | width | m | fp32_t | Same as field type | |
| Area – Length | length | m | fp32_t | Same as field type |
Command to obtain the operational limits in use by the vehicle.
This message has no fields.
Initiate overall calibration of a vehicle.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Duration | duration | s | uint16_t | Duration of calibration. | Same as field type |
Enable or disable control loops.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Enable | enable | Enumerated | uint8_t | Same as field type | |
| Control Loop Mask | mask | Bitfield | uint32_t | Control loop mask. | Same as field type |
| Scope Time Reference | scope_ref | - | uint32_t | Unsigned integer reference for the scope of the control loop message. Scope reference should only be set by a maneuver. Should be set to an always increasing reference at the time of dispatching this message. Lower level controllers must inherit the same scope reference sent by maneuver. This same scope reference must be sent down to lower control layers. | Same as field type |
Detect current vehicle medium.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Medium | medium | Enumerated | uint8_t | Current medium. | Same as field type |
Detected collision.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Collision value | value | m/s/s | fp32_t | Estimated collision acceleration value. | Same as field type |
| Type | type | Bitfield | uint8_t | Collision flags. | Same as field type |
Monitoring variables to assert the formation tracking state, i.e., the mismatch between the real and the simulated aircraft position, the convergence state, etc.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Position Mismatch | PosSimErr | m | fp32_t | Mismatch between the real and the simulated aircraft position. | Same as field type |
| Convergence | Converg | m | fp32_t | Convergence evalution variable. Value indicates the position error to which the system is converging, tacking into account the aircraft current position error and velocity. | Same as field type |
| Stream Turbulence | Turbulence | m/s/s | fp32_t | Evaluation of the stream turbulence level, through the stream acceleration. | Same as field type |
| Position Mismatch Monitor | PosSimMon | Enumerated | uint8_t | Position mismatch monitoring flag. | Same as field type |
| Communications Monitor | CommMon | Enumerated | uint8_t | Communications monitoring flag. | Same as field type |
| Convergence | ConvergMon | Enumerated | uint8_t | Convergence monitoring flag. | Same as field type |
Reports autopilot mode.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Autonomy Level | autonomy | Enumerated | uint8_t | Current mode autonomy level. | Same as field type |
| Mode | mode | - | plaintext | Current mode name. | Same as field type |