State reported by an entity in the vehicle. The source entity is identified in the message header.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| State | state | Enumerated (Enum State) | uint8_t | State of entity. | Same as field type |
| Flags | flags | Bitfield (Bitfield Flags) | uint8_t | Complementary entity state flags. | Same as field type |
| Complementary description | description | - | plaintext | Complementary human-readable description of entity state. | Same as field type |
State of entity.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Bootstrapping | BOOT | - |
| 1 | Normal Operation | NORMAL | - |
| 2 | Fault | FAULT | - |
| 3 | Error | ERROR | - |
| 4 | Failure | FAILURE | - |
Complementary entity state flags.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0x01 | Human Intervention Required | HUMAN_INTERVENTION | - |
Request entities to report their state. Entities should respond by issuing an appropriate EntityState message.
This message has no fields.
This message describes an entity.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Entity Identifier | id | - | uint8_t | Entity identifier. | Same as field type |
| Label | label | - | plaintext | Entity label or empty if the entity id is not valid. | Same as field type |
| Component name | component | - | plaintext | Name of the plugin/component/subsystem associated with this entity. | Same as field type |
| Activation Time | act_time | s | uint16_t | Amount of time needed to properly activate the entity. | Same as field type |
| Deactivation Time | deact_time | s | uint16_t | Amount of time needed to properly deactivate the entity. | Same as field type |
Request information about an entity identifier. The receiving system shall reply with an EntityInfo message with the details of that entity.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Entity Identifier | id | - | uint8_t | Entity identifier. | Same as field type |
This message describes the names and identification numbers of all entities in the system.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| operation | op | Enumerated (Enum operation) | uint8_t | Operation to perform. | Same as field type |
| list | list | TupleList | plaintext | Example: “Battery=11;CTD=3” | Same as field type |
Operation to perform.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Report | REPORT | Report the entity list. |
| 1 | Query | QUERY | Request the entity list. |
| 2 | Reload | RELOAD | Reload the entity list. |
Report of software CPU usage.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Usage percentage | value | % | uint8_t | The CPU usage, in percentage, of the sending software. | max=100 |
Message generated when tasks bind to messages.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Consumer name | consumer | - | plaintext | The name of the consumer (e.g. task name). | Same as field type |
| Message Identifier | message_id | - | uint16_t | The id of the message to be listened to. | Same as field type |
Request the destination system to restart itself.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Restart Type | type | Enumerated (Enum Restart Type) | uint8_t | Same as field type |
No description
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 1 | Dune | DUNE | Request a DUNE restart |
| 2 | System | SYSTEM | Request a system restart. |
This message controls the calibration procedure of a given device. The destination device is selected using the destination entity identification number.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Operation | op | Enumerated (Enum Operation) | uint8_t | Operation to perform. | Same as field type |
Operation to perform.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Start | START | Start calibration procedure. |
| 1 | Stop | STOP | Stop calibration procedure. |
| 2 | Perform Next Calibration Step | STEP_NEXT | Perform next step of the calibration procedure. |
| 3 | Perform Previous Calibration Step | STEP_PREVIOUS | Perform previous step of the calibration procedure. |
State of the calibration procedure.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Total Steps | total_steps | - | uint8_t | Total number of steps of the calibration procedure. | Same as field type |
| Current Step Number | step_number | - | uint8_t | Number of the current step being performed. | Same as field type |
| Description | step | - | plaintext | Human-readable description of the current step. | Same as field type |
| Flags | flags | Bitfield (Bitfield Flags) | uint8_t | Additional flags. | Same as field type |
Additional flags.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0x01 | Previous Step Not Supported | PREVIOUS_NOT_SUPPORTED | Jumping to the previous calibration step is not supported. |
| 0x02 | Next Step Not Supported | NEXT_NOT_SUPPORTED | Jumping to the next calibration step is not supported. |
| 0x04 | Waiting Device Calibration Control | WAITING_CONTROL | The calibration procedure was suspended and must be resumed or cancelled with a DeviceCalibrationControl message. |
| 0x08 | Calibration Error | ERROR | Calibration was interrupted due to an error and must be restarted or cancelled with a DeviceCalibrationControl message. |
| 0x10 | Calibration Procedure Completed | COMPLETED | The calibration procedure was completed. |
State of entity activation/deactivation.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| State | state | Enumerated (Enum State) | uint8_t | Current state. | Same as field type |
| Error | error | - | plaintext | Human-readable error message. | Same as field type |
Current state.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Entity is Inactive | INACTIVE | Entity is inactive. |
| 1 | Entity is Active | ACTIVE | Entity is active. |
| 2 | Activation in Progress | ACT_IP | Activation is in progress. |
| 3 | Activation Completed | ACT_DONE | Activation is completed. |
| 4 | Activation Failed | ACT_FAIL | The activation procedure failed and the field ‘error’ contains the error message. |
| 5 | Deactivation In Progress | DEACT_IP | Deactivation is in progress. |
| 6 | Deactivation Completed | DEACT_DONE | Deactivation is in progress. |
| 7 | Deactivation Failed | DEACT_FAIL | The deactivation procedure failed and the field ‘error’ contains the error message. |
Query the activation/deactivation state of an entity. The recipient shall reply with an EntityActivationState message.
This message has no fields.
Vehicle opertional limits. For aircraft this should represent the flight envelope and the dynamic contraints.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Action on the vehicle operational limits | op | Enumerated (Enum Action on the vehicle operational limits) | uint8_t | Action on the vehicle operation limits | Same as field type |
| Minimum speed | speed_min | m/s | fp32_t | Minimum operation speed. For aircraft this is equal or larger then the stall speed. | min=0 |
| Maximum speed | speed_max | m/s | fp32_t | Maximum operation speed. For aircraft this is limited by the engine power or structural contrains. | min=0 |
| Longitudinal maximum acceleration | long_accel | m/s/s | fp32_t | Maximum longitudinal acceleration. | min=0 |
| Maximum MSL altitude | alt_max_msl | m | fp32_t | Maximum altitude above mean-sea-level. | min=0 |
| Maximum Dive Rate Speed Fraction | dive_fraction_max | - | fp32_t | Maximum dive rate (negative vertical speed) as a fraction of the longitudinal speed. | min=0 |
| Maximum Climb Rate Speed Fraction | climb_fraction_max | - | fp32_t | Maximum climb rate (positive vertical speed) as a fraction of the longitudinal speed. | min=0 |
| Bank limit | bank_max | rad | fp32_t | Limit to the bank angle (roll; angle over the xx body-axis). | min=0 |
| Bank rate limit | p_max | rad/s | fp32_t | Limit to the bank angular rate (roll; angle over the xx body-axis). | min=0 |
| Minimum pitch angle | pitch_min | rad | fp32_t | Minimum pitch angle (angle over the xx body-axis). | Same as field type |
| Maximum pitch angle | pitch_max | rad | fp32_t | Maximum pitch angle (angle over the xx body-axis). | Same as field type |
| Maximum pitch rate | q_max | rad/s | fp32_t | Maximum pitch angular rate (angle over the xx body-axis). | min=0 |
| Minimum load factor | g_min | g | fp32_t | Minimum load factor, i.e., maximum positive acceleration in the zz body-axis as a factor of the gravity acceleration at mean-sea-level. | max=0 |
| Maximum load factor | g_max | g | fp32_t | Maximum load factor, i.e., maximum negative acceleration in the zz body-axis as a factor of the gravity acceleration at mean-sea-level. | min=0 |
| Maximum lateral load factor | g_lat_max | g | fp32_t | Maximum lateral load factor, i.e., maximum acceleration in the yy body-axis as a factor of the gravity acceleration at mean-sea-level. | min=0 |
| Minimum RPMs | rpm_min | rpm | fp32_t | Minimum motor RPMs. | min=0 |
| Maximum RPMs | rpm_max | rpm | fp32_t | Maximum motor RPMs. | min=0 |
| Maximum RPM rate | rpm_rate_max | rpm/s | fp32_t | Maximum motor RPMs’ rate of change. | min=0 |
Action on the vehicle operation limits
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Request | REQUEST | - |
| 1 | Set | SET | - |
| 2 | Report | REPORT | - |
No description
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Messages | msgs | - | message-list | 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 (EntityParameter) | 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 (EntityParameter) | 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 |
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 (Enum Type) | uint8_t | Event type. | Same as field type |
| Error Message | error | - | plaintext | Human-readable error message. | Same as field type |
Event type.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 1 | Input Available | INPUT | - |
| 2 | Input Error | INPUT_ERROR | - |
Vehicle Home Position.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Action on the vehicle home position | op | Enumerated (Enum Action on the vehicle home position) | uint8_t | Action on the vehicle home | Same as field type |
| Latitude (WGS-84) | lat | rad | fp64_t | WGS-84 Latitude. | min=-1.5707963267948966, max=1.5707963267948966 |
| Longitude (WGS-84) | lon | rad | fp64_t | WGS-84 Longitude. | min=-3.141592653589793, max=3.141592653589793 |
| Height (WGS-84) | height | m | fp32_t | Height above the WGS-84 ellipsoid. | Same as field type |
| Depth | depth | m | fp32_t | Depth, in meters. To be used by underwater vehicles. Negative values denote invalid estimates. | Same as field type |
| Altitude | alt | m | fp32_t | Altitude, in meters. Negative values denote invalid estimates. | Same as field type |
Action on the vehicle home
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 1 | Set | SET | - |
| 2 | Report | REPORT | - |
This message is used to query / report version information related to an entity.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Operation | op | Enumerated (Enum Operation) | uint8_t | Operation to perform. | Same as field type |
| Version | version | - | plaintext | Version of the entity. | Same as field type |
| Description | description | - | plaintext | Description of the entity. | Same as field type |
Operation to perform.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Reply | REPLY | Report the entity list. |
| 1 | Query | QUERY | Request the entity list. |