Simulation Messages

Simulated State

This message presents the simulated state of the vehicle. The simulated state attempts to provide a realistic state interpretation of operating various kinds of vehicles.

  • Abbreviation: SimulatedState
  • Identification Number: 50
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Latitude (WGS-84) lat rad fp64_t WGS-84 Latitude. Same as field type
Longitude (WGS-84) lon rad fp64_t WGS-84 Longitude. Same as field type
Height (WGS-84) height m fp32_t Height above the WGS-84 ellipsoid. Same as field type
Offset north (m) x m fp32_t The North offset of the North/East/Down field. Same as field type
Offset east (m) y m fp32_t The East offset of the North/East/Down field. Same as field type
Offset down (m) z m fp32_t The Down offset of the North/East/Down field. Same as field type
Rotation over x axis phi rad fp32_t The phi Euler angle from the vehicle’s attitude. Same as field type
Rotation over y axis theta rad fp32_t The theta Euler angle from the vehicle’s attitude. Same as field type
Rotation over z axis psi rad fp32_t The psi Euler angle from the vehicle’s attitude. Same as field type
Body-Fixed xx Linear Velocity u m/s fp32_t Body-fixed frame xx axis linear velocity component. Same as field type
Body-Fixed yy Linear Velocity v m/s fp32_t Body-fixed frame yy axis linear velocity component. Same as field type
Body-Fixed zz Linear Velocity w m/s fp32_t Body-fixed frame zz axis linear velocity component. Same as field type
Angular Velocity in x p rad/s fp32_t The angular velocity over body-fixed xx axis (roll rate). Same as field type
Angular Velocity in y q rad/s fp32_t The angular velocity over body-fixed yy axis (pitch rate). Same as field type
Angular Velocity in z r rad/s fp32_t The angular velocity over body-fixed zz axis (yaw rate). Same as field type
Stream Velocity X (North) svx m/s fp32_t Stream Velocity xx axis velocity component. Same as field type
Stream Velocity Y (East) svy m/s fp32_t Stream Velocity yy axis velocity component. Same as field type
Stream Velocity Z (Down) svz m/s fp32_t Stream Velocity zz axis velocity component. Same as field type

Leak Simulation

Simulate leak behavior.

  • Abbreviation: LeakSimulation
  • Identification Number: 51
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Operation op Enumerated uint8_t Indicates whether leaks have been detected or not. Same as field type
Leak Entities entities - plaintext Comma separated list of leak entities (empty for all leaks configured). Same as field type

Underwater Acoustics Simulation

Underwater acoustics simulation request.

  • Abbreviation: UASimulation
  • Identification Number: 52
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Type type Enumerated uint8_t Type of request. Same as field type
Transmission Speed speed bps uint16_t Transmission speed. Same as field type
Data data - rawdata Data for transmission requests. Same as field type

Dynamics Simulation Parameters

Vehicle dynamics parameters for 3DOF, 4DOF or 5DOF simulations.

  • Abbreviation: DynamicsSimParam
  • Identification Number: 53
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Action on the Vehicle Simulation Parameters op Enumerated uint8_t Action on the vehicle simulation parameters for the formation control Same as field type
TAS to Longitudinal Acceleration Gain tas2acc_pgain - fp32_t Proportional gain from the TAS (True Airspeed) error to the longitudinal acceleration. Same as field type
Bank to Bank Rate Gain bank2p_pgain - fp32_t Proportional gain from the bank angle error to the bank angular rate. Same as field type