Camera Zoom.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Camera Number | id | - | uint8_t | The identification number of the destination camera. | Same as field type |
| Absolute Zoom Level | zoom | - | uint8_t | Absolute zoom level. | Same as field type |
| Action | action | Enumerated (Enum Action) | uint8_t | The zoom action to perform. | Same as field type |
The zoom action to perform.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Reset Zoom | ZOOM_RESET | - |
| 1 | Zoom In | ZOOM_IN | - |
| 2 | Zoom Out | ZOOM_OUT | - |
| 3 | Stop Zooming | ZOOM_STOP | - |
Actuate directly on a thruster.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Thruster Number | id | - | uint8_t | The identification number of the destination thruster. | Same as field type |
| Actuation Value | value | - | fp32_t | Actuation magnitude. | min=-1, max=1 |
Set the position of a servo.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Identifier | id | - | uint8_t | The identification number of the destination servo. | Same as field type |
| Position | value | rad | fp32_t | Actuation magnitude. | min=-1.5707963267948966, max=1.5707963267948966 |
Set the deflection angle of a control surface.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Identifier | id | - | uint8_t | The identification number of the destination control surface. | Same as field type |
| Angle | angle | rad | fp32_t | Actuation magnitude. | Same as field type |
This message is used as query to request for the possible remote actions (operation=QUERY and the list is empty in this case). The vehicle responds using the same message type returning the tuplelist with the pairs: Action,Type (operation=REPORT). The type of action can be Axis, Hat or Button.
Verbs to use:
| Verb | Type | LAUV Use | Verb alternatives | Notes |
|---|---|---|---|---|
| Accelerate | Button | yes | ||
| Arm | Button | Should use ArmState message for state | ||
| Decelerate | Button | yes | ||
| Disarm | Button | |||
| Exit | Button | yes | ||
| Heading | Axis | yes | Yaw, Rotate, Turning | |
| Lateral | Axis | Sway, Sideways | ||
| Pitch | Axis | |||
| Roll | Axis | Bank | ||
| Stop | Button | yes | ||
| Thrust | Axis | yes | Surge, Forward, Throtle | |
| Vertical | Axis | Heave, Up, Ascende, VerticalRate, Depth, Z | ||
| (type) |
Special actions for configuration:
| Verb | Special Type | Notes |
|---|---|---|
| Ranges | Decimal, Range127 | Decimal [-1.0; 1.0], Range127[-127; 127] (default) |
Types:
| Type | Note |
|---|---|
| Axis | Axis like (full range) |
| Button | A button (0 for release, 1 for press) |
| Slider | Slider like (full range) |
| HalfSlider | Slider like, but only the positive half of the range |
Special Types:
| Special Type | Notes |
|---|---|
| Lock | Specify a Verb to be “locked” |
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| operation | op | Enumerated (Enum operation) | uint8_t | Operation to perform. | Same as field type |
| Actions | actions | TupleList | plaintext | Example: “Propulsion:Axis,Lights:Button,Lights:Lock” | Same as field type |
Operation to perform.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Report | REPORT | - |
| 1 | Query | QUERY | - |
| 2 | Register | REGISTER | This will serve as a registration of an additional action. It should be used by an internal system entity to register an action to a central registration. This way only one will responde to a QUERY request. |
This message is used to send a periodic update of values for each remote action. If the action is not on the list the assumed value is 0.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Actions | actions | TupleList | plaintext | List of values for each remote action (e.g: “Propeller=0.6,PanTilt=0.75,Lights=1”). | Same as field type |
Event of a specific hardware button.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Button | button | - | uint8_t | Button identifier. | Same as field type |
| Value | value | - | uint8_t | Value of the button. | Same as field type |
Control LCD.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Operation | op | Enumerated (Enum Operation) | uint8_t | The LCD action to perform | Same as field type |
| Text | text | - | plaintext | Text to be written (if defined write operation). | Same as field type |
The LCD action to perform
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Turn off display | TURN_OFF | - |
| 1 | Turn on display | TURN_ON | - |
| 2 | Clear display | CLEAR | - |
| 3 | Write Line #0 | WRITE0 | - |
| 4 | Write Line #1 | WRITE1 | - |
This message allows controlling the system’s power lines.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Operation | op | Enumerated (Enum Operation) | uint8_t | Operation type. | Same as field type |
| Time Remaining | time_remain | s | fp32_t | Time remaining to complete operation. | Same as field type |
| Scheduled Time | sched_time | s | fp64_t | Scheduled time of operation. | Same as field type |
Operation type.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Power Down | PWR_DOWN | Request the destination entity of this message to power down it’s devices immediately. If the destination entity is the special entity ‘0’ the whole system will power down. |
| 1 | Power Down in Progress | PWR_DOWN_IP | The latest power down request is in progress and the time remaining until power down is given in field ‘time_remain’. |
| 2 | Power Down Aborted | PWR_DOWN_ABORTED | The latest power down request was aborted. |
| 3 | Schedule Power Down | SCHED_PWR_DOWN | Request the destination entity of this message to power down it’s devices at the time given in the field ‘sched_time’. If the destination entity is the special entity ‘0’ the whole system will power down. |
| 4 | Power Up | PWR_UP | Request the destination entity of this message to power up it’s devices. |
| 5 | Power Up in Progress | PWR_UP_IP | The latest power up request is in progress. |
| 6 | Schedule Power Up | SCHED_PWR_UP | Request the destination entity of this message to power up it’s devices at the time given in the field ‘sched_time’. If the destination entity is the special entity ‘0’ the whole system will power up. |
This message allows controlling power channels.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Channel Name | name | - | plaintext | The name of the power channel. | Same as field type |
| Operation | op | Enumerated (Enum Operation) | uint8_t | Operation to perform. | max=6 |
| Scheduled Time | sched_time | s | fp64_t | Scheduled time of operation. | Same as field type |
Operation to perform.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Turn Off | TURN_OFF | Turn off power channel specified in field ‘id’. |
| 1 | Turn On | TURN_ON | Turn on power channel specified in field ‘id’. |
| 2 | Toggle | TOGGLE | Toggle power channel specified in field ‘id’. |
| 3 | Schedule Turn On | SCHED_ON | Turn on power channel specified in field ‘id’ in ‘sched_time’ seconds. |
| 4 | Schedule Turn Off | SCHED_OFF | Turn off power channel specified in field ‘id’ in ‘sched_time’ seconds. |
| 5 | Reset Schedules | SCHED_RESET | Reset all scheduled operations for the channel specified in field ‘id’. |
| 6 | Save Current State | SAVE | Save the current state of the channel ‘id’ to persistent storage. |
| 7 | Restart | RESTART | Restart power channel specified in field ‘id’. |
Request the state of power channels.
This message has no fields.
Message conveying the state of a power channel.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Name | name | - | plaintext | Power Channel Name. | Same as field type |
| State | state | Enumerated (Enum State) | uint8_t | State of the Power Channel. | Same as field type |
State of the Power Channel.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Off | OFF | Power channel is off. |
| 1 | On | ON | Power channel is on. |
Brightness value of an LED (Light-Emitting Diode).
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Name | name | - | plaintext | LED name. | Same as field type |
| Value | value | - | uint8_t | Brightness value. | Same as field type |
Query the brightness of an LED (Light-Emitting Diode). The recipient of this message shall reply with ‘LedBrightness’.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Name | name | - | plaintext | LED name. | Same as field type |
Control the brightness of an LED (Light-Emitting Diode). The recipient of this message shall set the intensity of the LED to the desired ‘value’ and reply with ‘LedBrightness’.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Name | name | - | plaintext | LED name. | Same as field type |
| Value | value | - | uint8_t | Desired brightness value. | Same as field type |
Set properties of a PWM signal channel.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Channel Identifier | id | - | uint8_t | PWM channel identifier. | Same as field type |
| Period | period | µs | uint32_t | The total period of the PWM signal (sum of active and inactive time of the PWM). | Same as field type |
| Duty Cycle | duty_cycle | µs | uint32_t | The active time of the PWM signal. The duty cycle value must be less or equal to the period. | Same as field type |
Properties of a PWM signal channel.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Channel Identifier | id | - | uint8_t | PWM channel identifier. | Same as field type |
| Period | period | µs | uint32_t | The total period of the PWM signal (sum of active and inactive time of the PWM). | Same as field type |
| Duty Cycle | duty_cycle | µs | uint32_t | The active time of the PWM signal. The duty cycle value is less or equal to the period. | Same as field type |
Current state of a GPIO.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Name | name | - | plaintext | GPIO Name. | Same as field type |
| Value | value | - | uint8_t | Logical level of the GPIO. | Same as field type |
Request the state of a given GPIO. The receiving entity shall reply with a GpioState message.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Name | name | - | plaintext | GPIO Name. | Same as field type |
Set the state of a given GPIO. The receiving entity shall reply with a GpioState message.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Name | name | - | plaintext | GPIO Name. | Same as field type |
| Value | value | - | uint8_t | Logical level of the GPIO. | Same as field type |