Desired Heading angle reference value for the control layer.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Value | value | rad | fp64_t | The value of the desired heading angle, relative to true north, in radians. | Same as field type |
Desired Z reference value for the control layer.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Value | value | m | fp32_t | The value of the desired z reference in meters. | Same as field type |
| Z Units | z_units | Enumerated (Enum Z Units) | uint8_t | Units of the z reference. | Same as field type |
Desired Speed reference value for the control layer.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Value | value | - | fp64_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 (Enum Speed Units) | uint8_t | Indicates the units used for the speed value. | Same as field type |
Desired Roll angle reference value for the control layer.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Value | value | rad | fp64_t | The value of the desired roll angle. | Same as field type |
Desired Pitch angle reference value for the control layer.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Value | value | rad | fp64_t | The value of the desired pitch angle. | Same as field type |
Desired Vertical Rate speed reference value for the control layer.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Value | value | m/s | fp64_t | The value of the desired vertical rate speed in meters per second. | Same as field type |
Perform path control.
The path is specified by two WGS-84 waypoints, respective altitude / depth settings, optional loitering at the end point, and some control flags.
The start and end waypoints are defined by the specified end point fields (‘end_{lat/lon/z}’) plus:
1. the start waypoint fields (‘start_{lat|lon|z}’) if the ‘START’ flag (bit in ‘flags’ field) is set; or 2. the end point of the previous path recently tracked; or 3. the current location is the ‘DIRECT’ flag is set or if the tracker has been idle for some time.
Altitude and depth control can be performed as follows:
1. by default, the tracker will just transmit an altitude/depth reference value equal to ‘end_z’ to the appropriate controller; 2. if the ‘NO_Z’ flag is set no altitude/depth control will take place, hence they can be controlled independently; 3. if the ‘3DTRACK’ flag is set, 3D-tracking will be done (if supported by the active controller).
Loitering can be specified at the end point with a certain radius (‘lradius’), duration (‘lduration’), and clockwise or counter-clockwise direction (‘CCLOCKW’ flag).
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Path Reference | path_ref | - | uint32_t | Unsigned integer reference for the scope of the desired path message. Path 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 path controllers must inherit the same path reference sent by maneuver. | Same as field type |
| Start Point – Latitude WGS-84 | start_lat | rad | fp64_t | WGS-84 latitude of start point. This will be ignored unless the ‘START’ flag is set. | min=-1.5707963267948966, max=1.5707963267948966 |
| Start Point – WGS-84 Longitude | start_lon | rad | fp64_t | WGS-84 longitude of start point. This will be ignored unless the ‘START’ flag is set. | min=-3.141592653589793, max=3.141592653589793 |
| 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 (Enum Z Units) | uint8_t | Units of the start point’s z reference. | Same as field type |
| End Point – WGS84 Latitude | end_lat | rad | fp64_t | WGS-84 latitude of end point. | min=-1.5707963267948966, max=1.5707963267948966 |
| End Point – WGS-84 Longitude | end_lon | rad | fp64_t | WGS-84 longitude of end point. | min=-3.141592653589793, max=3.141592653589793 |
| 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 (Enum Z Units) | uint8_t | Units of the end point’s z reference. | Same as field type |
| Speed | speed | - | fp32_t | Maneuver speed reference. | Same as field type |
| Speed Units | speed_units | Enumerated (Enum Speed Units) | uint8_t | Speed units. | Same as field type |
| Loiter – Radius | lradius | m | fp32_t | Radius for loitering at end point. Specify less or equal to 0 for no loitering. | Same as field type |
| Flags | flags | Bitfield (Bitfield Flags) | uint8_t | Desired Path flags. | Same as field type |
Desired Path flags.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0x01 | Start Point | START | Indicates that the start point specification is given, therefore it should be considered for tracking. |
| 0x02 | Direct | DIRECT | If start point is not given, ignore also the previous path’s endpoint and take the start point to be the current vehicle location. |
| 0x04 | No Altitude/Depth control | NO_Z | Ignore altitude/depth setting and let them be controlled independently. |
| 0x08 | 3D Tracking | 3DTRACK | Perform 3D-tracking, i.e., consider the path formed in the XYZ plane taking into account both the ‘start_z’ and ‘end_z’ values. |
| 0x10 | Counter-Clockwise loiter | CCLOCKW | Indicates that loitering, if defined, should be done counter-clockwise. Clockwise loitering will apply otherwise. |
| 0x20 | Loiter from current position | LOITER_CURR | Indicates that loitering, if defined, should be done from the current vehicle position. The end_lat and end_lon fields will be ignored. |
| 0x40 | Takeoff | TAKEOFF | Indicates that takeoff should be done before going to the end position. |
| 0x80 | Land | LAND | Indicates that the system should land at the end position. |
Set the desired virtual forces and torques to be applied to the vehicle.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Force along the x axis | x | N | fp64_t | Force X along the vehicle’s x axis. | Same as field type |
| Force along the y axis | y | N | fp64_t | Force Y along the vehicle’s y axis. | Same as field type |
| Force along the z axis | z | N | fp64_t | Force Z along the vehicle’s z axis. | Same as field type |
| Torque about the x axis | k | Nm | fp64_t | Torque K about the vehicle’s x axis. | Same as field type |
| Torque about the y axis | m | Nm | fp64_t | Torque M about the vehicle’s y axis. | Same as field type |
| Torque about the z axis | n | Nm | fp64_t | Torque N about the vehicle’s z axis. | Same as field type |
| Flags | flags | Bitfield (Bitfield Flags) | uint8_t | Desired Control flags. | Same as field type |
Desired Control flags.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0x01 | Value of X is meaningful | X | If enabled then field X has a meaningful value. |
| 0x02 | Value of Y is meaningful | Y | If enabled then field Y has a meaningful value. |
| 0x04 | Value of Z is meaningful | Z | If enabled then field Z has a meaningful value. |
| 0x08 | Value of K is meaningful | K | If enabled then field K has a meaningful value. |
| 0x10 | Value of M is meaningful | M | If enabled then field M has a meaningful value. |
| 0x20 | Value of N is meaningful | N | If enabled then field N has a meaningful value. |
Desired Heading Rate speed reference value for the control layer.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Value | value | rad/s | fp64_t | The value of the desired heading rate speed in radians per second. | Same as field type |
Desired value for each linear and angular speeds.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Desired Linear Speed in xx | u | m/s | fp64_t | Desired speed along the vehicle’s x axis. | Same as field type |
| Desired Linear Speed in yy | v | m/s | fp64_t | Desired speed along the vehicle’s y axis. | Same as field type |
| Desired Linear Speed in zz | w | m/s | fp64_t | Desired speed along the vehicle’s z axis. | Same as field type |
| Desired Angular Speed in xx | p | m/s | fp64_t | Desired speed about the vehicle’s x axis. | Same as field type |
| Desired Angular Speed in yy | q | m/s | fp64_t | Desired speed about the vehicle’s y axis. | Same as field type |
| Desired Angular Speed in zz | r | m/s | fp64_t | Desired speed about the vehicle’s z axis. | Same as field type |
| Flags | flags | Bitfield (Bitfield Flags) | uint8_t | Desired Velocity flags. | Same as field type |
Desired Velocity flags.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0x01 | Value of u is meaningful | SURGE | If enabled then field u has a meaningful value. |
| 0x02 | Value of v is meaningful | SWAY | If enabled then field u has a meaningful value. |
| 0x04 | Value of w is meaningful | HEAVE | If enabled then field w has a meaningful value. |
| 0x08 | Value of p is meaningful | ROLL | If enabled then field p has a meaningful value. |
| 0x10 | Value of q is meaningful | PITCH | If enabled then field q has a meaningful value. |
| 0x20 | Value of r is meaningful | YAW | If enabled then field r has a meaningful value. |
Path control state issued by Path Controller.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Path Reference | path_ref | - | uint32_t | Unsigned integer reference of the desired path message to which this PathControlState message refers to. Path reference should only be set by a maneuver, not by path controllers. | Same as field type |
| Start Point – Latitude WGS-84 | start_lat | rad | fp64_t | WGS-84 latitude of start point. | min=-1.5707963267948966, max=1.5707963267948966 |
| Start Point – WGS-84 Longitude | start_lon | rad | fp64_t | WGS-84 longitude of start point. | min=-3.141592653589793, max=3.141592653589793 |
| 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 (Enum Z Units) | uint8_t | Units of the start point’s z reference. | Same as field type |
| End Point – Latitude WGS-84 | end_lat | rad | fp64_t | WGS-84 latitude of end point. | min=-1.5707963267948966, max=1.5707963267948966 |
| End Point – WGS-84 Longitude | end_lon | rad | fp64_t | WGS-84 longitude of end point. | min=-3.141592653589793, max=3.141592653589793 |
| End Point – Z Reference | end_z | m | fp32_t | Depth or altitude for the end point. This parameter should be ignored if the ‘NO_Z’ flag is set. | Same as field type |
| End Point – Z Units | end_z_units | Enumerated (Enum Z Units) | uint8_t | Units of the end point’s z reference. | Same as field type |
| Loiter – Radius | lradius | m | fp32_t | Radius for loitering at end point. Will be 0 if no loitering is active. | Same as field type |
| Flags | flags | Bitfield (Bitfield Flags) | uint8_t | Path control state flags. | Same as field type |
| Along Track Position | x | m | fp32_t | Along-Track position value. | Same as field type |
| Cross Track Position | y | m | fp32_t | Cross-Track position value. | Same as field type |
| Vertical Track Position | z | m | fp32_t | Vertical-Track position value. | Same as field type |
| Along Track Velocity | vx | m/s | fp32_t | Along-Track velocity value. | Same as field type |
| Cross Track Velocity | vy | m/s | fp32_t | Cross-Track velocity value. | Same as field type |
| Vertical Track Velocity | vz | m/s | fp32_t | Vertical-Track velocity value. | Same as field type |
| Course Error | course_error | rad | fp32_t | Course error value. | Same as field type |
| Estimated Time to Arrival (ETA) | eta | s | uint16_t | Estimated time to reach target waypoint. The value will be 65535 if the time is unknown or undefined, and 0 when loitering. | Same as field type |
Path control state flags.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0x01 | Near Endpoint | NEAR | Set if near the target endpoint. |
| 0x02 | Loitering | LOITERING | Set if loitering. |
| 0x04 | No Altitude/Depth control | NO_Z | Altitude/depth being controlled independently. |
| 0x08 | 3D Tracking | 3DTRACK | 3D-tracking is active. |
| 0x10 | Counter-Clockwise loiter | CCLOCKW | Indicates that loitering, if active, is being done counter-clockwise. Otherwise, clockwise loitering should be assumed. |
Control torques allocated to the actuators.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Torque about the x axis | k | Nm | fp64_t | Torque K about the vehicle’s x axis. | Same as field type |
| Torque about the y axis | m | Nm | fp64_t | Torque M about the vehicle’s y axis. | Same as field type |
| Torque about the x axis | n | Nm | fp64_t | Torque N about the vehicle’s z axis. | Same as field type |
Report of PID control parcels.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Proportional Parcel | p | - | fp32_t | Proportional parcel value. | Same as field type |
| Integrative Parcel | i | - | fp32_t | Integral parcel value. | Same as field type |
| Derivative Parcel | d | - | fp32_t | Derivative parcel value. | Same as field type |
| Anti-Windup Parcel | a | - | fp32_t | Anti-windup parcel value. | Same as field type |
Brake the vehicle in some way, i. e., reduce forward speed.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Operation | op | Enumerated (Enum Operation) | uint8_t | Brake operation. | Same as field type |
Brake operation.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Stop Braking | STOP | Stop braking procedures. |
| 1 | Start Braking | START | Start braking procedures. |
| 2 | Revert Actuation | REVERT | Revert Actuation. |
Position, velocity and acceleration setpoints in NED
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Desired pos in xx | x | m | fp64_t | Desired pos in x. | Same as field type |
| Desired pos in yy | y | m | fp64_t | Desired pos in y. | Same as field type |
| Desired pos in zz | z | m | fp64_t | Desired pos in z. | Same as field type |
| Desired Linear Speed in xx | vx | m/s | fp64_t | Desired speed along NED x axis. | Same as field type |
| Desired Linear Speed in yy | vy | m/s | fp64_t | Desired speed along NED y axis. | Same as field type |
| Desired Linear Speed in zz | vz | m/s | fp64_t | Desired speed along NED z axis. | Same as field type |
| Desired Linear Acceleration in xx | ax | m/s/s | fp64_t | Desired acceleration along NED x axis. | Same as field type |
| Desired Linear Acceleration in yy | ay | m/s/s | fp64_t | Desired acceleration along NED y axis. | Same as field type |
| Desired Linear Acceleration in zz | az | m/s/s | fp64_t | Desired acceleration along NED z axis. | Same as field type |
| Flags | flags | Bitfield (Bitfield Flags) | uint16_t | Setpoint Flags | Same as field type |
Setpoint Flags
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0x0001 | Value of x is meaningful | X | If enabled then field x has a meaningful value. |
| 0x0002 | Value of y is meaningful | Y | If enabled then field y has a meaningful value. |
| 0x0004 | Value of z is meaningful | Z | If enabled then field z has a meaningful value. |
| 0x0008 | Value of vx is meaningful | VX | If enabled then field vx has a meaningful value. |
| 0x0010 | Value of vy is meaningful | VY | If enabled then field vy has a meaningful value. |
| 0x0020 | Value of vz is meaningful | VZ | If enabled then field vz has a meaningful value. |
| 0x0040 | Value of ax is meaningful | AX | If enabled then field ax has a meaningful value. |
| 0x0080 | Value of ay is meaningful | AY | If enabled then field ay has a meaningful value. |
| 0x0100 | Value of az is meaningful | AZ | If enabled then field az has a meaningful value. |
Desired throttle e.g. for Plane in FBWA-mode.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Value | value | % | fp64_t | The value of the desired throttle. | Same as field type |