Maneuvering Messages

Goto Maneuver

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.

  • Abbreviation: Goto
  • Identification Number: 450
  • Payload Size: 54+ bytes
  • Message Size: 76+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of target waypoint. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) 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. min=-1, max=6.283185307179586
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. min=-1, max=6.283185307179586
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. min=-1, max=6.283185307179586
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Teleoperation Maneuver

The Teleoperation Maneuver lets the vehicle be controlled by an external human operator.

  • Abbreviation: Teleoperation
  • Identification Number: 452
  • Payload Size: 2+ bytes
  • Message Size: 24+ bytes
Name Abbreviation Unit Type Description Range
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Loiter Maneuver

The Loiter maneuver makes the vehicle circle around a specific waypoint with fixed depth reference.

  • Abbreviation: Loiter
  • Identification Number: 453
  • Payload Size: 50+ bytes
  • Message Size: 72+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude coordinate. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Speed units. Same as field type
Loiter Type type Enumerated (Enum Loiter Type) uint8_t Loiter maneuver type. max=4
Radius radius m fp32_t Radius of the maneuver. min=1, max=100000
Length length m fp32_t Length of the maneuver. min=1, max=100000
Bearing bearing rad fp64_t Bearing of the maneuver. min=0, max=6.283185307179586
Direction direction Enumerated (Enum Direction) uint8_t Desired direction. max=3
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Enum Loiter Type

Loiter maneuver type.

  • Abbreviation: type
  • Prefix: LT
Value Name Abbreviation Description
0 Default DEFAULT -
1 Circular CIRCULAR -
2 Race track RACETRACK -
3 Figure 8 EIGHT -
4 Hover HOVER -

Enum Direction

Desired direction.

  • Abbreviation: direction
  • Prefix: LD
Value Name Abbreviation Description
0 Vehicle Dependent VDEP -
1 Clockwise CLOCKW -
2 Counter Clockwise CCLOCKW -
3 Into the wind/current IWINDCURR -

Idle Maneuver

Causes the vehicle to stay idle for some time.

  • Abbreviation: IdleManeuver
  • Identification Number: 454
  • Payload Size: 4+ bytes
  • Message Size: 26+ bytes
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 Control Maneuver

Low level maneuver that sends a (heading, roll, speed, …) reference to a controller of the vehicle and then optionally lingers for some time.

  • Abbreviation: LowLevelControl
  • Identification Number: 455
  • Payload Size: 6+ bytes
  • Message Size: 28+ bytes
Name Abbreviation Unit Type Description Range
Control control - message (Message-Group Control Command) Control command: can be of type DesiredZ, DesiredHeading, DesiredRoll, DesiredPitch, DesiredSpeed, DesiredThrottle 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

Rows maneuver (i.e: lawn mower type maneuver)

  • Abbreviation: Rows
  • Identification Number: 456
  • Payload Size: 61+ bytes
  • Message Size: 83+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of target waypoint. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Speed units. Same as field type
Bearing bearing rad fp64_t Rows bearing angle. min=0, max=6.283185307179586
Cross Angle cross_angle rad fp64_t Rows cross angle reference. min=-1.047197551197, max=1.047197551197
Width width m fp32_t Width of the maneuver. min=0
Length length m fp32_t Length of the maneuver. min=0
Horizontal Step hstep m fp32_t Horizontal step. min=0
Curve Offset coff m uint8_t Desired curve offset. Same as field type
Alternation Parameter alternation % uint8_t Alternation parameter. max=100
Flags flags Bitfield (Bitfield Flags) uint8_t Maneuver flags. Same as field type
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Bitfield Flags

Maneuver flags.

  • Abbreviation: flags
  • Prefix: FLG
Value Name Abbreviation Description
0x0001 Square Curve SQUARE_CURVE -
0x0002 First Curve Right CURVE_RIGHT -

Follow Path Maneuver

Maneuver constituted by a list of Path Points.

  • Abbreviation: FollowPath
  • Identification Number: 457
  • Payload Size: 32+ bytes
  • Message Size: 54+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of start point. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Speed units. Same as field type
Path Points points - message-list (Path Point) 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

Path Point

Waypoint coordinate of a Follow Path maneuver.

  • Abbreviation: PathPoint
  • Identification Number: 458
  • Payload Size: 12 bytes
  • Message Size: 34 bytes
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

Yo-Yo Maneuver

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.

  • Abbreviation: YoYo
  • Identification Number: 459
  • Payload Size: 38+ bytes
  • Message Size: 60+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of target waypoint. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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. min=0, max=0.78539816
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
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Teleoperation Done

Notification of completion of a Teleoperation maneuver.

  • Abbreviation: TeleoperationDone
  • Identification Number: 460
  • Payload Size: 0 bytes
  • Message Size: 22 bytes

This message has no fields.

Station Keeping

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.

  • Abbreviation: StationKeeping
  • Identification Number: 461
  • Payload Size: 34+ bytes
  • Message Size: 56+ bytes
Name Abbreviation Unit Type Description Range
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
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 (Enum Z Units) 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 (Enum Speed Units) 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

Elevator Maneuver

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.

  • Abbreviation: Elevator
  • Identification Number: 462
  • Payload Size: 40+ bytes
  • Message Size: 62+ bytes
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 (Bitfield Flags) uint8_t Flags of the maneuver. 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
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 – 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
Radius radius m fp32_t Radius for use in ascent/descent. If 0 the controller to should use a custom control strategy. min=0
Speed speed - fp32_t Maneuver speed. Same as field type
Speed Units speed_units Enumerated (Enum Speed Units) uint8_t Speed units. Same as field type
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Bitfield Flags

Flags of the maneuver.

  • Abbreviation: flags
  • Prefix: FLG
Value Name Abbreviation Description
0x01 Start from current position CURR_POS If this flag is set, lat/lon/start_z fields should be ignored and current vehicle position should be considered as starting point for ascent/descent.

Follow Trajectory

Maneuver constituted by a list of Trajectory Points.

  • Abbreviation: FollowTrajectory
  • Identification Number: 463
  • Payload Size: 32+ bytes
  • Message Size: 54+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude for start point. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Speed units. Same as field type
Trajectory Points points - message-list (Trajectory Point) List of trajectory points. Same as field type
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Trajectory Point

Waypoint coordinate of a Follow Trajectory maneuver.

  • Abbreviation: TrajectoryPoint
  • Identification Number: 464
  • Payload Size: 16 bytes
  • Message Size: 38 bytes
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

Custom Maneuver

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.

  • Abbreviation: CustomManeuver
  • Identification Number: 465
  • Payload Size: 6+ bytes
  • Message Size: 28+ bytes
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

Vehicle Formation

Coordinate maneuver using two or more cooperating systems.

  • Abbreviation: VehicleFormation
  • Identification Number: 466
  • Payload Size: 40+ bytes
  • Message Size: 62+ bytes
Name Abbreviation Unit Type Description Range
Latitude WGS-84 lat rad fp64_t WGS-84 Latitude for start point. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude for start point. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Reference speed units. Same as field type
Trajectory Points points - message-list (Trajectory Point) List of trajectory points. Same as field type
Formation Participants participants - message-list (Vehicle Formation Participant) 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

Vehicle Formation Participant

Definition of a vehicle participant in a VehicleFormation maneuver.

  • Abbreviation: VehicleFormationParticipant
  • Identification Number: 467
  • Payload Size: 14 bytes
  • Message Size: 36 bytes
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

Stop Maneuver

Command used to stop currently executing maneuver.

  • Abbreviation: StopManeuver
  • Identification Number: 468
  • Payload Size: 0 bytes
  • Message Size: 22 bytes

This message has no fields.

Register Maneuver

Command used to indicate maneuver can be executed in the vehicle.

  • Abbreviation: RegisterManeuver
  • Identification Number: 469
  • Payload Size: 2 bytes
  • Message Size: 24 bytes
Name Abbreviation Unit Type Description Range
Maneuver ID mid - uint16_t IMC serialization ID of maneuver type. Same as field type

Maneuver Control State

Maneuver control state.

  • Abbreviation: ManeuverControlState
  • Identification Number: 470
  • Payload Size: 5+ bytes
  • Message Size: 27+ bytes
Name Abbreviation Unit Type Description Range
State state Enumerated (Enum State) 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

Enum State

Code indicating maneuver state.

  • Abbreviation: state
  • Prefix: MCS
Value Name Abbreviation Description
0 Maneuver in progress EXECUTING Maneuver in progress.
1 Maneuver completed DONE Maneuver completed.
2 Maneuver error ERROR Maneuver error.
3 Maneuver stopped STOPPED Maneuver stopped.

Follow System

System-following maneuver.

  • Abbreviation: FollowSystem
  • Identification Number: 471
  • Payload Size: 22 bytes
  • Message Size: 44 bytes
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 (Enum Speed Units) 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 (Enum Z Units) uint8_t Units of the z reference. Same as field type

Communications Relay

In this maneuver, a vehicle drives to the center of two other systems (a, b) in order to be used as a communications relay.

  • Abbreviation: CommsRelay
  • Identification Number: 472
  • Payload Size: 31 bytes
  • Message Size: 53 bytes
Name Abbreviation Unit Type Description Range
Latitude WGS-84 lat rad fp64_t WGS-84 Latitude for start point. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude for start point. min=-3.141592653589793, max=3.141592653589793
Speed speed - fp32_t Reference speed. Same as field type
Speed Units speed_units Enumerated (Enum Speed Units) 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

Cover Area

Given a polygonal area, generates trajectories to cover the area.

  • Abbreviation: CoverArea
  • Identification Number: 473
  • Payload Size: 30+ bytes
  • Message Size: 52+ bytes
Name Abbreviation Unit Type Description Range
Latitude WGS-84 lat rad fp64_t WGS-84 Latitude for start point. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude for start point. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Reference speed units. Same as field type
Polygon polygon - message-list (Polygon Vertex) 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

Polygon Vertex

This message is used to store the various polygon vertices for CoverArea maneuvers.

  • Abbreviation: PolygonVertex
  • Identification Number: 474
  • Payload Size: 16 bytes
  • Message Size: 38 bytes
Name Abbreviation Unit Type Description Range
Latitude WGS-84 lat rad fp64_t WGS-84 Latitude for start point. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude for start point. min=-3.141592653589793, max=3.141592653589793

Compass Calibration Maneuver

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.

  • Abbreviation: CompassCalibration
  • Identification Number: 475
  • Payload Size: 45+ bytes
  • Message Size: 67+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude coordinate. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) uint8_t Units of the z reference. Same as field type
Pitch pitch rad fp32_t Pitch angle used to perform the maneuver. min=-1.5707963267948966, max=1.5707963267948966
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 (Enum Speed Units) uint8_t Speed units. Same as field type
Radius radius m fp32_t Radius of the maneuver. min=1, max=100000
Direction direction Enumerated (Enum Direction) uint8_t Direction of the maneuver. max=3
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Enum Direction

Direction of the maneuver.

  • Abbreviation: direction
  • Prefix: LD
Value Name Abbreviation Description
0 Vehicle Dependent VDEP -
1 Clockwise CLOCKW -
2 Counter Clockwise CCLOCKW -
3 Into the wind/current IWINDCURR -

Formation Parameters

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.

  • Abbreviation: FormationParameters
  • Identification Number: 476
  • Payload Size: 7+ bytes
  • Message Size: 29+ bytes
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 (Enum Formation Reference Frame) uint8_t Formation reference frame Same as field type
Formation Participants participants - message-list (Vehicle Formation Participant) 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

Enum Formation Reference Frame

Formation reference frame

  • Abbreviation: reference_frame
  • Prefix: OP
Value Name Abbreviation Description
0 Earth Fixed EARTH_FIXED -
1 Path Fixed PATH_FIXED -
2 Path Curved PATH_CURVED -

Formation Plan Execution

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

  • Abbreviation: FormationPlanExecution
  • Identification Number: 477
  • Payload Size: 40+ bytes
  • Message Size: 62+ bytes
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

Follow Reference Maneuver

This maneuver follows a reference given by an external entity.

  • Abbreviation: FollowReference
  • Identification Number: 478
  • Payload Size: 15 bytes
  • Message Size: 37 bytes
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

Reference To Follow

No description

  • Abbreviation: Reference
  • Identification Number: 479
  • Payload Size: 39 bytes
  • Message Size: 61 bytes
Name Abbreviation Unit Type Description Range
Flags flags Bitfield (Bitfield Flags) uint8_t   Same as field type
Speed Reference speed - message (Desired Speed)   Same as field type
Z Reference z - message (Desired Z)   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

Bitfield Flags

No description

  • Abbreviation: flags
  • Prefix: FLAG
Value Name Abbreviation Description
0x01 Use Location Reference LOCATION -
0x02 Use Speed Reference SPEED -
0x04 Use Z Reference Z -
0x08 Use Radius Reference RADIUS -
0x10 Use this Reference as Start Position for PathControler START_POINT -
0x20 Use Current Position as Start Position for PathControler DIRECT -
0x80 Flag Maneuver Completion MANDONE -

Follow Reference State

No description

  • Abbreviation: FollowRefState
  • Identification Number: 480
  • Payload Size: 46 bytes
  • Message Size: 68 bytes
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 To Follow) Reference currently being followed. Same as field type
State state Enumerated (Enum State) uint8_t   Same as field type
Proximity proximity Bitfield (Bitfield Proximity) uint8_t   Same as field type

Enum State

No description

  • Abbreviation: state
  • Prefix: FR
Value Name Abbreviation Description
1 Waiting for first reference WAIT -
2 Going towards received reference GOTO -
3 Loitering after arriving at the reference LOITER -
4 Hovering after arriving at the reference HOVER -
5 Moving in z after arriving at the target cylinder ELEVATOR -
6 Controlling system timed out TIMEOUT -

Bitfield Proximity

No description

  • Abbreviation: proximity
  • Prefix: PROX
Value Name Abbreviation Description
0x01 Far from the destination FAR -
0x02 Near in the horizontal plane XY_NEAR -
0x04 Near in the vertical plane Z_NEAR -
0x08 Unreachable in the horizontal plane XY_UNREACHABLE -
0x10 Unreachable in the vertical plane Z_UNREACHABLE -

Formation Monitoring Data

Monitoring variables for the formation state and performance.

  • Abbreviation: FormationMonitor
  • Identification Number: 481
  • Payload Size: 74+ bytes
  • Message Size: 96+ bytes
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 (Relative State) List of RelativeState messages, encoding the inter-vehicle formation state. Same as field type

Relative State

Inter-vehicle formation state.

  • Abbreviation: RelativeState
  • Identification Number: 482
  • Payload Size: 86+ bytes
  • Message Size: 108+ bytes
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

Dislodge Maneuver

A “Dislodge” is a maneuver ordering the vehicle to attempt a series of thruster operations that will hopefully get it unstuck from an entangled condition.

Parameters are RPMs for the motor when attempting dislodge and and a flag specifying whether the thrust burst should be attempted forward, backward or auto (letting the vehicle decide).

  • Abbreviation: Dislodge
  • Identification Number: 483
  • Payload Size: 9+ bytes
  • Message Size: 31+ bytes
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
RPM rpm - fp32_t Maneuver RPM reference. Same as field type
Direction direction Enumerated (Enum Direction) uint8_t Direction to which the vehicle should attempt to unstuck. Same as field type
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Enum Direction

Direction to which the vehicle should attempt to unstuck.

  • Abbreviation: direction
  • Prefix: DIR
Value Name Abbreviation Description
0 Let the vehicle decide AUTO -
1 Attempt to move forward FORWARD -
2 Attempt to move backward BACKWARD -

Formation

The “Formation” is a controller to execute a maneuver with a team of vehicles. It defines the: - Vehicles included in the formation group - Vehicles relative positions inside the formation - Reference frame where the relative positions are defined - Formation shape configuration - Plan (set of maneuvers) to be followed by the formation center - Plan contrains (virtual leader speed and bank limits) - Supervision settings

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.

  • Abbreviation: Formation
  • Identification Number: 484
  • Payload Size: 57+ bytes
  • Message Size: 79+ bytes
Name Abbreviation Unit Type Description Range
Formation Name formation_name - plaintext Name of the formation configuration. Same as field type
Type type Enumerated (Enum Type) uint8_t Indicates if the message is a request, or a reply to a previous request. Same as field type
Operation op Enumerated (Enum Operation) uint8_t Operation to perform. Same as field type
Target Group Name group_name - plaintext Target group for the formation plan. 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 Reference Frame reference_frame Enumerated (Formation-enum-reference_frame) uint8_t Formation reference frame Same as field type
Formation Participants participants - message-list (Vehicle Formation Participant) List of formation participants. Same as field type
Formation Leader Bank Limit leader_bank_lim rad fp32_t Maximum absolute bank allowed for the formation leader. Same as field type
Formation Leader Minimum Speed leader_speed_min m/s fp32_t Minimum speed allowed for the formation leader flight. Same as field type
Formation Leader Maximum Speed leader_speed_max m/s fp32_t Maximum speed allowed for the formation leader flight. Same as field type
Formation Leader Minimum Altitude leader_alt_min m fp32_t Minimum altitude allowed for the formation leader flight. Same as field type
Formation Leader Maximum Altitude leader_alt_max m fp32_t Maximum altitude allowed for the formation leader flight. 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

Enum Type

Indicates if the message is a request, or a reply to a previous request.

  • Abbreviation: type
  • Prefix: FC
Value Name Abbreviation Description
0 Request REQUEST -
1 Report REPORT -

Enum Operation

Operation to perform.

  • Abbreviation: op
  • Prefix: OP
Value Name Abbreviation Description
0 Start START Start the formation maneuver.
1 Stop STOP Stop the formation maneuver.
2 Ready READY Stop the formation maneuver.
3 Executing EXECUTING Stop the formation maneuver.
4 Failure FAILURE Stop the formation maneuver.

Enum Formation Reference Frame

Formation reference frame

  • Abbreviation: reference_frame
  • Prefix: OP
Value Name Abbreviation Description
0 Earth Fixed EARTH_FIXED -
1 Path Fixed PATH_FIXED -
2 Path Curved PATH_CURVED -

Launch Maneuver

A “Launch” is a maneuver specifying a movement of the vehicle to a target waypoint after being launched from a ship or pier. The waypoint is described by the WGS-84 waypoint coordinate and target Z reference.

Mandatory parameters defined for a “Launch” are timeout, speed and speed units.

  • Abbreviation: Launch
  • Identification Number: 485
  • Payload Size: 30+ bytes
  • Message Size: 52+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of target waypoint. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Speed units. Same as field type
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Drop Maneuver

A “Drop” 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.

  • Abbreviation: Drop
  • Identification Number: 486
  • Payload Size: 30+ bytes
  • Message Size: 52+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of target waypoint. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Speed units. Same as field type
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Scheduled Goto

This maneuver is used to command the vehicle to arrive at some destination at a specified absolute time.

The vehicle’s speed will vary according to environment conditions and/or maneuver start time.

  • Abbreviation: ScheduledGoto
  • Identification Number: 487
  • Payload Size: 35 bytes
  • Message Size: 57 bytes
Name Abbreviation Unit Type Description Range
Time of arrival arrival_time s fp64_t Unix timestamp, in seconds, for the arrival at the destination. Same as field type
Destination Latitude WGS-84 lat rad fp64_t WGS-84 Latitude of target waypoint. min=-1.5707963267948966, max=1.5707963267948966
Destination Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of target waypoint. min=-3.141592653589793, max=3.141592653589793
Destination 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 (Enum Z Units) uint8_t Units of the destination z reference. Same as field type
Travel Z Reference travel_z m fp32_t Z reference to use while travelling to the destination. Same as field type
Travel Z Units travel_z_units Enumerated (Enum Z Units) uint8_t Z reference units to use while travelling to the destination. Same as field type
Delayed Behavior delayed Enumerated (Enum Delayed Behavior) uint8_t What to do if the vehicle fails to arrive before or at the requested time. Same as field type

Enum Delayed Behavior

What to do if the vehicle fails to arrive before or at the requested time.

  • Abbreviation: delayed
  • Prefix: DBEH
Value Name Abbreviation Description
0 Resume RESUME If the vehicle fails to arrive at the specified time, it will keep going to the destination at top speed and only then consider this maneuver completed.
1 Skip SKIP If the vehicle fails to arrive at the specified time, it will stop the current maneuver and advance to the next one (independently of how far it is from destination).
2 Fail FAIL If the vehicle fails to arrive at the specified time, it will stop the execution of this maneuver with a FAILED result (the entire plan will be stopped).

Rows Coverage

Rows coverage (i.e: lawn mower type maneuver) but with adaptive cover

  • Abbreviation: RowsCoverage
  • Identification Number: 488
  • Payload Size: 61+ bytes
  • Message Size: 83+ bytes
Name Abbreviation Unit Type Description Range
Latitude WGS-84 lat rad fp64_t WGS-84 Latitude of target waypoint. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of target waypoint. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Speed units. Same as field type
Bearing bearing rad fp64_t Rows bearing angle. min=0, max=6.283185307179586
Cross Angle cross_angle rad fp64_t Rows cross angle reference. min=-1.047197551197, max=1.047197551197
Width width m fp32_t Width of the maneuver. min=0
Length length m fp32_t Length of the maneuver. min=0
Curve Offset coff m uint8_t Desired curve offset. Same as field type
Angular Aperture angAperture rad fp32_t Angular aperture of the sensor (looking downwards). min=-3.141592653589793, max=3.141592653589793
Range range m uint16_t Maximum range of the sensor (in meters downwards from the vehicle’s position). Same as field type
Overlap overlap % uint8_t Amount of overlap among different transect surveys. max=100
Flags flags Bitfield (Bitfield Flags) uint8_t Maneuver optional flags. Same as field type
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Bitfield Flags

Maneuver optional flags.

  • Abbreviation: flags
  • Prefix: FLG
Value Name Abbreviation Description
0x01 Square Curve SQUARE_CURVE Whether to move between transects using an additional perpendicular transect.
0x02 First Curve Right CURVE_RIGHT Shall the vehicle turn towards the right after the first transect (alternatively it will turn left).

Sample Maneuver

A “Sample” 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.

  • Abbreviation: Sample
  • Identification Number: 489
  • Payload Size: 33+ bytes
  • Message Size: 55+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of target waypoint. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Speed units. Same as field type
Syringe0 syringe0 Enumerated (Enum Boolean Value) uint8_t True when sampling with servo 0. Same as field type
Syringe1 syringe1 Enumerated (Enum Boolean Value) uint8_t True when sampling with servo 1. Same as field type
Syringe2 syringe2 Enumerated (Enum Boolean Value) uint8_t True when sampling with servo 2. Same as field type
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Image Tracking

A “ImageTracking” is a maneuver specifying a particular heading to the detected object.

  • Abbreviation: ImageTracking
  • Identification Number: 490
  • Payload Size: 0 bytes
  • Message Size: 22 bytes

This message has no fields.

Takeoff Maneuver

Automatic takeoff for UAVs. This maneuver specifies a target waypoint where to takeoff.

Takeoff direction is set from the direction the plane is pointing when the auto takeoff command is started. It will remain that way until the vehicle reaches the target z reference. After that it will go to the target waypoint.

  • Abbreviation: Takeoff
  • Identification Number: 491
  • Payload Size: 32+ bytes
  • Message Size: 54+ bytes
Name Abbreviation Unit Type Description Range
Latitude WGS-84 lat rad fp64_t WGS-84 Latitude of target waypoint. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of target waypoint. min=-3.141592653589793, max=3.141592653589793
Z Reference z m fp32_t Target altitude or height for the automatic takeoff. Same as field type
Z Units z_units Enumerated (Enum Z Units) 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 (Enum Speed Units) uint8_t Speed units. Same as field type
Pitch Angle takeoff_pitch rad fp32_t Minimum pitch angle during automatic takeoff. min=0, max=1.57079632679490
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Land Maneuver

Automatic landing on the ground, for UAVs. This maneuver specifies the target touchdown location and sets the final approach based on the maneuver bearing and glide slope parameters.

  • Abbreviation: Land
  • Identification Number: 492
  • Payload Size: 45+ bytes
  • Message Size: 67+ bytes
Name Abbreviation Unit Type Description Range
Latitude WGS-84 lat rad fp64_t WGS-84 Latitude of touchdown waypoint. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of touchdown waypoint. min=-3.141592653589793, max=3.141592653589793
Z Reference z m fp32_t Target altitude or height for the automatic landing. Same as field type
Z Units z_units Enumerated (Enum Z Units) uint8_t Units of the z reference and abort 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
Abort Z Reference abort_z m fp32_t Abort altitude or height. If landing is aborted while executing, the UAV will maintain its course and attempt to climb to the abort z reference. Same as field type
Bearing bearing rad fp64_t Land bearing angle. min=0, max=6.283185307179586
Glide Slope glide_slope % uint8_t Ratio of the distance from the last waypoint to the landing point (touchdown) and the height difference between them. max=10
Glide Slope Altitude glide_slope_alt m fp32_t Height difference between the last waypoint to the landing point (touchdown). Same as field type
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Autonomous Section

This maneuver triggers an external controller that will guide the vehicle during a specified duration of time or until it relinquishes control using (ManeuverDone). The external controller is allowed to drive the vehicle only inside the specified boundaries.

  • Abbreviation: AutonomousSection
  • Identification Number: 493
  • Payload Size: 52+ bytes
  • Message Size: 74+ bytes
Name Abbreviation Unit Type Description Range
Latitude WGS-84 lat rad fp64_t WGS-84 Latitude of the initial location. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of the initial location. min=-3.141592653589793, max=3.141592653589793
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
Enforced Limits limits Bitfield (Bitfield Enforced Limits) uint8_t   Same as field type
Maximum depth max_depth m fp64_t Maximum depth the autonomous controller is allowed to drive to. Same as field type
Minimum altitude min_alt m fp64_t Minimum altitude the autonomous controller is allowed to drive to. Same as field type
Time Limit time_limit s fp64_t The time after which this maneuver should be stopped (if still active and TIMEOUT is enforced). Same as field type
Area Limits area_limits - message-list (Polygon Vertex) The boundaries of the admissable area for this autonomous section. Same as field type
Controller controller - plaintext The name of the controlling agent that will be allowed to guide the vehicle during the AutononousSection. Same as field type
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Bitfield Enforced Limits

No description

  • Abbreviation: limits
  • Prefix: ENFORCE
Value Name Abbreviation Description
0x01 Maximum Depth Limit DEPTH -
0x02 Minimum Altitude Limit ALTITUDE -
0x04 Time Limit TIMEOUT -
0x08 Polygonal Area Limits AREA2D -

Follow Point Maneuver

This maneuver behaves by following a point.

  • Abbreviation: FollowPoint
  • Identification Number: 494
  • Payload Size: 30+ bytes
  • Message Size: 52+ bytes
Name Abbreviation Unit Type Description Range
Source To Follow target - plaintext The identifier of the point source to follow (via RemoteSensorInfo or EstimatedState). Same as field type
Maximum Speed max_speed m/s fp32_t Use this speed when travelling from afar. min=0
Speed Units speed_units Enumerated (Enum Speed Units) uint8_t Indicates the units used for the maximum speed value. Same as field type
Latitude WGS-84 lat rad fp64_t WGS-84 Latitude of maneuver in the map. Ignored during execution. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of maneuver in the map. Ignored during execution. min=-3.141592653589793, max=3.141592653589793
Z z m fp32_t Use z_units to specify whether z represents depth, altitude or other. Same as field type
Z Units z_units Enumerated (Enum Z Units) uint8_t Units of the z reference. Same as field type
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Alignment Maneuver

An “Alignment” is a maneuver specifying a movement of the vehicle to a target waypoint intended to control activation of an IMU/INS in order to start aligning navigation for more precise dead reckoning operation.

  • Abbreviation: Alignment
  • Identification Number: 495
  • Payload Size: 25+ bytes
  • Message Size: 47+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of target waypoint. min=-3.141592653589793, max=3.141592653589793
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
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Follow Command Maneuver

This maneuver follows a direct command given by an external entity.

  • Abbreviation: FollowCommand
  • Identification Number: 496
  • Payload Size: 7 bytes
  • Message Size: 29 bytes
Name Abbreviation Unit Type Description Range
Controlling Source control_src - uint16_t The IMC identifier of the source system that is allowed to provide command 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 commands 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 new command has been received. In other words, the controlling entity should send command updates in shorter periods than ‘timeout’. Same as field type

Command To Follow

This message must be sent by an external entity to provide command references to a system running a “Follow Command Maneuver”. If no Command messages are transmitted, the system will terminate maneuver.

  • Abbreviation: Command
  • Identification Number: 497
  • Payload Size: 13 bytes
  • Message Size: 35 bytes
Name Abbreviation Unit Type Description Range
Flags flags Bitfield (Bitfield Flags) uint8_t   Same as field type
Speed Reference speed - fp32_t The value of the desired speed, in the scale specified by the “flags” field. Same as field type
Z Reference z m fp32_t The value of the desired z reference in meters. Same as field type
Heading Reference heading rad fp32_t The value of the desired heading angle, relative to true north, in radians, or, the value of the desired heading rate angle, in radians. Same as field type

Bitfield Flags

No description

  • Abbreviation: flags
  • Prefix: FLAG
Value Name Abbreviation Description
0x01 Use Speed Reference in meters per second SPEED_METERS_PS Command system to move at speed reference provided in “speed” field in meters per second.
0x02 Use Speed Reference in revolutions per minute SPEED_RPM Command system to move at speed reference provided in “speed” field in revolutions per minute.
0x04 Use Z Reference as depth DEPTH Command system to move at z reference provided in “z” field in depth.
0x08 Use Z Reference as altitude ALTITUDE Command system to move at z reference provided in “z” field in altitude.
0x10 Use Heading Reference HEADING Command system to move at a heading reference provided in “heading” field in radians.
0x20 Use Heading Rate Reference HEADING_RATE Command system to move at a heading rate reference provided in “heading” field in radians/s.
0x80 Flag Maneuver Completion MANDONE Command system to exit maneuver’s execution.

Follow Command State

No description

  • Abbreviation: FollowCommandState
  • Identification Number: 498
  • Payload Size: 19 bytes
  • Message Size: 41 bytes
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
Command command - message (Command To Follow) Command currently being followed. Same as field type
State state Enumerated (Enum State) uint8_t Current state of execution. Same as field type

Enum State

Current state of execution.

  • Abbreviation: state
  • Prefix: FC
Value Name Abbreviation Description
1 Waiting for first command WAIT System is waiting for first command.
2 Moving towards received command MOVING System is moving according with command provided.
3 Speed command is zero STOPPED System is stopped. Speed reference is zero.
4 Command is out of safe bounds BAD_COMMAND Command provided breaks system’s physical limitations.
5 Controlling system timed out TIMEOUT Maneuver will be terminated since timeout was exceeded.

Magnetometer Maneuver

Magnetometer calibration maneuver (i.e: one square pattern in one direction, a second square in the opposite direction)

  • Abbreviation: Magnetometer
  • Identification Number: 499
  • Payload Size: 43+ bytes
  • Message Size: 65+ bytes
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. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude of target waypoint. min=-3.141592653589793, max=3.141592653589793
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Speed units. Same as field type
Bearing bearing rad fp64_t Rows bearing angle. min=0, max=6.283185307179586
Width width m fp32_t Width of the maneuver. min=50
Direction direction Enumerated (Enum Direction) uint8_t Desired direction. max=1
Custom settings for maneuver custom TupleList plaintext Custom settings for maneuver. Same as field type

Enum Direction

Desired direction.

  • Abbreviation: direction
  • Prefix: MD
Value Name Abbreviation Description
0 Clockwise First CLOCKW_FIRST -
1 Counter Clockwise First CCLOCKW_FIRST -

Maneuver Done

Notification of completion of a maneuver (optional use).

  • Abbreviation: ManeuverDone
  • Identification Number: 719
  • Payload Size: 0 bytes
  • Message Size: 22 bytes

This message has no fields.

Station Keeping Extended

The Station Keeping Extended 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. It extends the Station Keeping maneuver with the feature ‘Keep Safe’, which allows for the vehicle to hold position underwater and popup periodically to communicate.

  • Abbreviation: StationKeepingExtended
  • Identification Number: 720
  • Payload Size: 39+ bytes
  • Message Size: 61+ bytes
Name Abbreviation Unit Type Description Range
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
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 (Enum Z Units) 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 (Enum Speed Units) uint8_t Indicates the units used for the speed value. Same as field type
PopUp Period popup_period s uint16_t The period at which the vehicle will popup to report its position. Only used if flag KEEP_SAFE is on. Same as field type
PopUp Duration popup_duration s uint16_t The duration of the station keeping at surface level when it pops up. Only used if flag KEEP_SAFE is on. Same as field type
Flags flags Bitfield (Bitfield Flags) 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

Bitfield Flags

Flags of the maneuver.

  • Abbreviation: flags
  • Prefix: FLG
Value Name Abbreviation Description
0x01 Keep safe behaviour KEEP_SAFE If this flag is set, the vehicle will hold position underwater, loitering at z reference. It will popup periodically to report position. When it pops up, it will stay at surface in “normal” station keeping behaviour for a certain time (popup_duration).

Target

Target.

  • Abbreviation: Target
  • Identification Number: 800
  • Payload Size: 31+ bytes
  • Message Size: 53+ bytes
Name Abbreviation Unit Type Description Range
Label label - plaintext Target identifier. Same as field type
Latitude WGS-84 lat rad fp64_t WGS-84 Latitude coordinate. min=-1.5707963267948966, max=1.5707963267948966
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude coordinate. min=-3.141592653589793, max=3.141592653589793
Z Reference z m fp32_t Z axis reference. Use z_units to specify whether z represents depth, altitude or other. Same as field type
Z Units z_units Enumerated (Enum Z Units) uint8_t Units of the z reference. Same as field type
Course Over Ground cog rad fp32_t Course Over Ground (true). Same as field type
Speed Over Ground sog m/s fp32_t Speed Over Ground. Same as field type

Formation Control Parameters

Formation controller paramenters, as: trajectory gains, control boundary layer thickness, and formation shape gains.

  • Abbreviation: FormCtrlParam
  • Identification Number: 820
  • Payload Size: 21 bytes
  • Message Size: 43 bytes
Name Abbreviation Unit Type Description Range
Action Action Enumerated (Enum Action) uint8_t Action on the vehicle formation control parameters. Same as field type
Longitudinal Gain LonGain - fp32_t Trajectory gain over the vehicle longitudinal direction. Same as field type
Lateral Gain LatGain - fp32_t Trajectory gain over the vehicle lateral direction. Same as field type
Boundary Layer Thickness BondThick - uint32_t Control sliding surface boundary layer thickness. Same as field type
Leader Gain LeadGain - fp32_t Formation shape gain (absolute vehicle position tracking). Leader control importance gain (relative to the sum of every other formation vehicle). Same as field type
Deconfliction Gain DeconflGain - fp32_t Collision avoidance and formation shape gain (position tracking relative to the other formation vehicles). Individual vehicle importance gain (relative to the leader), when the relative position or the velocity state indicate higher probability of collision. Same as field type

Enum Action

Action on the vehicle formation control parameters.

  • Abbreviation: Action
  • Prefix: OP
Value Name Abbreviation Description
0 Request REQ -
1 Set SET -
2 Report REP -

Formation Evaluation Data

Formation control performance evaluation variables.

  • Abbreviation: FormationEval
  • Identification Number: 821
  • Payload Size: 12 bytes
  • Message Size: 34 bytes
Name Abbreviation Unit Type Description Range
Mean position error err_mean - fp32_t Mean position error relative to the formation reference. Same as field type
Absolute minimum distance dist_min_abs - fp32_t Overall minimum distance to any other vehicle in the formation. Same as field type
Mean minimum distance dist_min_mean - fp32_t Mean minimum distance to any other vehicle in the formation. Same as field type

Formation Control Parameters

Formation controller paramenters, as: trajectory gains, control boundary layer thickness, and formation shape gains.

  • Abbreviation: FormationControlParams
  • Identification Number: 822
  • Payload Size: 41 bytes
  • Message Size: 63 bytes
Name Abbreviation Unit Type Description Range
Action Action Enumerated (Enum Action) uint8_t Action on the vehicle formation control parameters. Same as field type
Longitudinal Gain lon_gain - fp32_t Trajectory gain over the vehicle longitudinal direction. Same as field type
Lateral Gain lat_gain - fp32_t Trajectory gain over the vehicle lateral direction. Same as field type
Boundary Layer Thickness bond_thick - fp32_t Control sliding surface boundary layer thickness. Same as field type
Leader Gain lead_gain - fp32_t Formation shape gain (absolute vehicle position tracking). Leader control importance gain (relative to the sum of every other formation vehicle). Same as field type
Deconfliction Gain deconfl_gain - fp32_t Collision avoidance and formation shape gain (position tracking relative to the other formation vehicles). Individual vehicle importance gain (relative to the leader), when the relative position or the velocity state indicate higher probability of collision. Same as field type
Acceleration Switch Gain accel_switch_gain - fp32_t Switch gain to compensate the worst case of the wind flow acceleration. Same as field type
Safety Distance safe_dist - fp32_t Inter-vehicle safety distance. Same as field type
Deconfliction Offset deconflict_offset - fp32_t Distance offset which defines the buffer area beyond the safety distace. Same as field type
Acceleration Safety Margin accel_safe_margin - fp32_t Safety margin to compensate for possible shortfalls from the predicted maximum acceleration that a vehicle can generate. Same as field type
Maximum Longitudinal Acceleration accel_lim_x - fp32_t Maximum predicted longitudinal acceleration a vehicle can generate. Same as field type

Enum Action

Action on the vehicle formation control parameters.

  • Abbreviation: Action
  • Prefix: OP
Value Name Abbreviation Description
0 Request REQ -
1 Set SET -
2 Report REP -

Formation Evaluation Data

Formation control performance evaluation variables.

  • Abbreviation: FormationEvaluation
  • Identification Number: 823
  • Payload Size: 65 bytes
  • Message Size: 87 bytes
Name Abbreviation Unit Type Description Range
Type type Enumerated (Enum Type) uint8_t Indicates if the message is a request, or a reply to a previous request. Same as field type
Operation op Enumerated (Enum Operation) uint8_t Operation to perform. Same as field type
Mean Position Error err_mean - fp32_t Mean position error relative to the formation reference. Same as field type
Absolute Minimum Distance dist_min_abs - fp32_t Overall minimum distance to any other vehicle in the formation. Same as field type
Mean Minimum Distance dist_min_mean - fp32_t Mean minimum distance to any other vehicle in the formation. Same as field type
Mean Roll Rate roll_rate_mean - fp32_t Mean minimum distance to any other vehicle in the formation. Same as field type
Evaluation Time time - fp32_t Period over which the evaluation data is averaged. Same as field type
Formation Control Parameters ControlParams - message (Formation Control Parameters) Formation controller paramenters during the evaluation period. Same as field type

Enum Type

Indicates if the message is a request, or a reply to a previous request.

  • Abbreviation: type
  • Prefix: FC
Value Name Abbreviation Description
0 Request REQUEST -
1 Report REPORT -

Enum Operation

Operation to perform.

  • Abbreviation: op
  • Prefix: OP
Value Name Abbreviation Description
0 Start START Start the formation maneuver.
1 Stop STOP Stop the formation maneuver.
2 Ready READY Stop the formation maneuver.
3 Executing EXECUTING Stop the formation maneuver.
4 Failure FAILURE Stop the formation maneuver.