Development Messages

Target

Target.

  • Abbreviation: Target
  • Identification Number: 800
  • Fixed Payload Size: 0
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. Same as field type
Longitude WGS-84 lon rad fp64_t WGS-84 Longitude coordinate. Same as field type
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 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

EntityParameter

Entity parameter.

  • Abbreviation: EntityParameter
  • Identification Number: 801
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Name name - plaintext Name of the parameter. Same as field type
Value value - plaintext Current value of the parameter. Same as field type

EntityParameters

List of entity parameters.

  • Abbreviation: EntityParameters
  • Identification Number: 802
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Entity Name name - plaintext Name of the entity. Same as field type
Parameters params - message-list List of parameters. Same as field type

QueryEntityParameters

No description

  • Abbreviation: QueryEntityParameters
  • Identification Number: 803
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Entity Name name - plaintext   Same as field type
Visibility visibility - plaintext   Same as field type
Scope scope - plaintext   Same as field type

SetEntityParameters

No description

  • Abbreviation: SetEntityParameters
  • Identification Number: 804
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Entity Name name - plaintext   Same as field type
Parameters params - message-list   Same as field type

SaveEntityParameters

No description

  • Abbreviation: SaveEntityParameters
  • Identification Number: 805
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Entity Name name - plaintext   Same as field type

Create Session

Request creating a new session with this remote peer. Example session sequence is shown in the following diagram.

_images/session_sequence.png
align:center
  • Abbreviation: CreateSession
  • Identification Number: 806
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Session Timeout timeout - uint32_t Session timeout, in seconds. If no messages are received from the remote peer, the session will be closed after this ammount of seconds have ellapsed. Same as field type

Close Session

Request closing of an ongoing session

  • Abbreviation: CloseSession
  • Identification Number: 807
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Session Identifier sessid - uint32_t   Same as field type

Session Subscription

No description

  • Abbreviation: SessionSubscription
  • Identification Number: 808
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Session Identifier sessid - uint32_t   Same as field type
Messages to subscribe messages - plaintext Comma-separated list of messages to subscribe. Example: “EstimatedState,EulerAngles,Temperature” Same as field type

Session Keep-Alive

Message exchanged to prevent a session from timing out

  • Abbreviation: SessionKeepAlive
  • Identification Number: 809
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Session Identifier sessid - uint32_t   Same as field type

Session Status

Message transmitted periodically to inform the state of a communication session

  • Abbreviation: SessionStatus
  • Identification Number: 810
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Session Identifier sessid - uint32_t   Same as field type
Status status Enumerated uint8_t   Same as field type

Push Entity Parameters

No description

  • Abbreviation: PushEntityParameters
  • Identification Number: 811
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Entity Name name - plaintext   Same as field type

Pop Entity Parameters

No description

  • Abbreviation: PopEntityParameters
  • Identification Number: 812
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Entity Name name - plaintext   Same as field type

I/O Event

Notification of an I/O event.

  • Abbreviation: IoEvent
  • Identification Number: 813
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Type type Enumerated uint8_t Event type. Same as field type
Error Message error - plaintext Human-readable error message. Same as field type

UamTxFrame

No description

  • Abbreviation: UamTxFrame
  • Identification Number: 814
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Sequence Id seq - uint16_t   Same as field type
Destination System sys_dst - plaintext   Same as field type
Flags flags Bitfield uint8_t   Same as field type
Data data - rawdata   Same as field type

UamRxFrame

No description

  • Abbreviation: UamRxFrame
  • Identification Number: 815
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Source System sys_src - plaintext   Same as field type
Destination System sys_dst - plaintext   Same as field type
Flags flags Bitfield uint8_t   Same as field type
Data data - rawdata   Same as field type

UamTxStatus

No description

  • Abbreviation: UamTxStatus
  • Identification Number: 816
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Sequence Id seq - uint16_t   Same as field type
Value value Enumerated uint8_t   Same as field type
Error Message error - plaintext   Same as field type

UamRxRange

No description

  • Abbreviation: UamRxRange
  • Identification Number: 817
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Sequence Id seq - uint16_t   Same as field type
System sys - plaintext   Same as field type
Value value - fp32_t   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
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Action Action Enumerated 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

Formation Evaluation Data

Formation control performance evaluation variables.

  • Abbreviation: FormationEval
  • Identification Number: 821
  • Fixed Payload Size: 0
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
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Action Action Enumerated 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

Formation Evaluation Data

Formation control performance evaluation variables.

  • Abbreviation: FormationEvaluation
  • Identification Number: 823
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Type type Enumerated uint8_t Indicates if the message is a request, or a reply to a previous request. Same as field type
Operation op Enumerated 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 controller paramenters during the evaluation period. Same as field type

Message Fragment

No description

  • Abbreviation: MessagePart
  • Identification Number: 877
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Transmission Unique Id uid - uint8_t   Same as field type
Fragment Number frag_number - uint8_t   Same as field type
Total Number of fragments num_frags - uint8_t   Same as field type
Fragment Data data - rawdata   Same as field type

Neptus Blob

No description

  • Abbreviation: NeptusBlob
  • Identification Number: 888
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
ContentType content_type - plaintext   Same as field type
Content content - rawdata   Same as field type

Aborted

This message signals that an Abort message was received and acted upon.

  • Abbreviation: Aborted
  • Identification Number: 889
  • Fixed Payload Size: 0

This message has no fields.

USBL Angles

This message contains information, collected using USBL, about the bearing and elevation of a target.

  • Abbreviation: UsblAngles
  • Identification Number: 890
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Target target - uint16_t Target’s IMC address. Same as field type
Bearing bearing rad fp32_t Target’s bearing. Same as field type
Elevation elevation rad fp32_t Target’s elevation. Same as field type

USBL Position

This message contains information, collected using USBL, about a target’s position.

  • Abbreviation: UsblPosition
  • Identification Number: 891
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Target target - uint16_t Target’s IMC address. Same as field type
X x m fp32_t X coordinate of the target in the local device’s reference frame. Same as field type
Y y m fp32_t Y coordinate of the target in the local device’s reference frame. Same as field type
Z z m fp32_t Z coordinate of the target in the local device’s reference frame. Same as field type

USBL Fix

This message contains the WGS-84 position of a target computed using USBL.

  • Abbreviation: UsblFix
  • Identification Number: 892
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Target target - uint16_t Target’s IMC address. Same as field type
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
Z Units z_units Enumerated uint8_t Units of the z reference. Same as field type
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

Parameters XML

Message containing the parameters XML of the source system.

  • Abbreviation: ParametersXml
  • Identification Number: 893
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Locale locale - plaintext The locale used to produce this parameters XML. Same as field type
Configuration Data config - rawdata The parameters XML file compressed using the GNU zip (gzip) format. Same as field type

Get Parameters XML

Request the destination system to send its parameters XML file via a Parameters XML message.

  • Abbreviation: GetParametersXml
  • Identification Number: 894
  • Fixed Payload Size: 0

This message has no fields.