Guidance Messages

Desired Heading

Desired Heading angle reference value for the control layer.

  • Abbreviation: DesiredHeading
  • Identification Number: 400
  • Fixed Payload Size: 0
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

Desired Z reference value for the control layer.

  • Abbreviation: DesiredZ
  • Identification Number: 401
  • Fixed Payload Size: 0
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 uint8_t Units of the z reference. Same as field type

Desired Speed

Desired Speed reference value for the control layer.

  • Abbreviation: DesiredSpeed
  • Identification Number: 402
  • Fixed Payload Size: 0
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 uint8_t Indicates the units used for the speed value. Same as field type

Desired Roll

Desired Roll angle reference value for the control layer.

  • Abbreviation: DesiredRoll
  • Identification Number: 403
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Value value rad fp64_t The value of the desired roll angle. Same as field type

Desired Pitch

Desired Pitch angle reference value for the control layer.

  • Abbreviation: DesiredPitch
  • Identification Number: 404
  • Fixed Payload Size: 0
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

Desired Vertical Rate speed reference value for the control layer.

  • Abbreviation: DesiredVerticalRate
  • Identification Number: 405
  • Fixed Payload Size: 0
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

Desired Path

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).

  • Abbreviation: DesiredPath
  • Identification Number: 406
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
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. Same as field type
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. Same as field type
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 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. Same as field type
End Point – WGS-84 Longitude end_lon rad fp64_t WGS-84 longitude of end point. 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 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 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 uint8_t Desired Path flags. Same as field type

Desired Control

Set the desired virtual forces and torques to be applied to the vehicle.

  • Abbreviation: DesiredControl
  • Identification Number: 407
  • Fixed Payload Size: 0
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 uint8_t Desired Control flags. Same as field type

Desired Heading Rate

Desired Heading Rate speed reference value for the control layer.

  • Abbreviation: DesiredHeadingRate
  • Identification Number: 408
  • Fixed Payload Size: 0
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 Velocity

Desired value for each linear and angular speeds.

  • Abbreviation: DesiredVelocity
  • Identification Number: 409
  • Fixed Payload Size: 0
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 uint8_t Desired Velocity flags. Same as field type

Path Control State

Path control state issued by Path Controller.

  • Abbreviation: PathControlState
  • Identification Number: 410
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Start Point – Latitude WGS-84 start_lat rad fp64_t WGS-84 latitude of start point. Same as field type
Start Point – WGS-84 Longitude start_lon rad fp64_t WGS-84 longitude of start point. Same as field type
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 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. Same as field type
End Point – WGS-84 Longitude end_lon rad fp64_t WGS-84 longitude of end point. Same as field type
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 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 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

Allocated Control Torques

Control torques allocated to the actuators.

  • Abbreviation: AllocatedControlTorques
  • Identification Number: 411
  • Fixed Payload Size: 0
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

Control Parcel

Report of PID control parcels.

  • Abbreviation: ControlParcel
  • Identification Number: 412
  • Fixed Payload Size: 0
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

Brake the vehicle in some way, i. e., reduce forward speed.

  • Abbreviation: Brake
  • Identification Number: 413
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Operation op Enumerated uint8_t Brake operation. Same as field type