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
Path Reference path_ref - uint32_t Unsigned integer reference for the scope of the desired path message. Path reference should only be set by a maneuver. Should be set to an always increasing reference at the time of dispatching this message. Lower level path controllers must inherit the same path reference sent by maneuver. Same as field type
Start Point – Latitude WGS-84 start_lat rad fp64_t WGS-84 latitude of start point. This will be ignored unless the ‘START’ flag is set. 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
Path Reference path_ref - uint32_t Unsigned integer reference of the desired path message to which this PathControlState message refers to. Path reference should only be set by a maneuver, not by path controllers. Same as field type
Start Point – Latitude WGS-84 start_lat rad fp64_t WGS-84 latitude of start point. 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