Actuation Messages

Camera Zoom

Camera Zoom.

  • Abbreviation: CameraZoom
  • Identification Number: 300
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Camera Number id - uint8_t The identification number of the destination camera. Same as field type
Absolute Zoom Level zoom - uint8_t Absolute zoom level. Same as field type
Action action Enumerated uint8_t The zoom action to perform. Same as field type

Set Thruster Actuation

Actuate directly on a thruster.

  • Abbreviation: SetThrusterActuation
  • Identification Number: 301
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Thruster Number id - uint8_t The identification number of the destination thruster. Same as field type
Actuation Value value - fp32_t Actuation magnitude. Same as field type

Set Servo Position

Set the position of a servo.

  • Abbreviation: SetServoPosition
  • Identification Number: 302
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Identifier id - uint8_t The identification number of the destination servo. Same as field type
Position value rad fp32_t Actuation magnitude. Same as field type

Set Control Surface Deflection

Set the deflection angle of a control surface.

  • Abbreviation: SetControlSurfaceDeflection
  • Identification Number: 303
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Identifier id - uint8_t The identification number of the destination control surface. Same as field type
Angle angle rad fp32_t Actuation magnitude. Same as field type

Remote Actions Request

This message is used as query to request for the possible remote actions (operation=QUERY and the list is empty in this case). The vehicle responds using the same message type returning the tuplelist with the pairs: Action,Type (operation=REPORT). The type of action can be Axis, Hat or Button.

  • Abbreviation: RemoteActionsRequest
  • Identification Number: 304
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
operation op Enumerated uint8_t Operation to perform. Same as field type
Actions actions TupleList plaintext Example: “Propulsion=Axis,PanTilt=Hat,Lights=Button” Same as field type

Remote Actions

This message is used to send a periodic update of values for each remote action. If the action is not on the list the assumed value is 0.

  • Abbreviation: RemoteActions
  • Identification Number: 305
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Actions actions TupleList plaintext List of values for each remote action (e.g: “Propeler=0.6,PanTilt=0.75,Lights=1”). Same as field type

Button Event

Event of a specific hardware button.

  • Abbreviation: ButtonEvent
  • Identification Number: 306
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Button button - uint8_t Button identifier. Same as field type
Value value - uint8_t Value of the button. Same as field type

LCD Control

Control LCD.

  • Abbreviation: LcdControl
  • Identification Number: 307
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Operation op Enumerated uint8_t The LCD action to perform Same as field type
Text text - plaintext Text to be written (if defined write operation). Same as field type

Power Operation

This message allows controlling the system’s power lines.

  • Abbreviation: PowerOperation
  • Identification Number: 308
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Operation op Enumerated uint8_t Operation type. Same as field type
Time Remaining time_remain s fp32_t Time remaining to complete operation. Same as field type
Scheduled Time sched_time s fp64_t Scheduled time of operation. Same as field type

Power Channel Control

This message allows controlling power channels.

  • Abbreviation: PowerChannelControl
  • Identification Number: 309
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Channel Name name - plaintext The name of the power channel. Same as field type
Operation op Enumerated uint8_t Operation to perform. Same as field type
Scheduled Time sched_time s fp64_t Scheduled time of operation. Same as field type

Query Power Channel State

Request the state of power channels.

  • Abbreviation: QueryPowerChannelState
  • Identification Number: 310
  • Fixed Payload Size: 0

This message has no fields.

Power Channel State

Message conveying the state of a power channel.

  • Abbreviation: PowerChannelState
  • Identification Number: 311
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Name name - plaintext Power Channel Name. Same as field type
State state Enumerated uint8_t State of the Power Channel. Same as field type

LED Brightness

Brightness value of an LED (Light-Emitting Diode).

  • Abbreviation: LedBrightness
  • Identification Number: 312
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Name name - plaintext LED name. Same as field type
Value value - uint8_t Brightness value. Same as field type

Query LED Brightness

Query the brightness of an LED (Light-Emitting Diode). The recipient of this message shall reply with ‘LedBrightness’.

  • Abbreviation: QueryLedBrightness
  • Identification Number: 313
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Name name - plaintext LED name. Same as field type

Set LED Brightness

Control the brightness of an LED (Light-Emitting Diode). The recipient of this message shall set the intensity of the LED to the desired ‘value’ and reply with ‘LedBrightness’.

  • Abbreviation: SetLedBrightness
  • Identification Number: 314
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Name name - plaintext LED name. Same as field type
Value value - uint8_t Desired brightness value. Same as field type

Set PWM

Set properties of a PWM signal channel.

  • Abbreviation: SetPWM
  • Identification Number: 315
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Channel Identifier id - uint8_t PWM channel identifier. Same as field type
Period period µs uint32_t The total period of the PWM signal (sum of active and inactive time of the PWM). Same as field type
Duty Cycle duty_cycle µs uint32_t The active time of the PWM signal. The duty cycle value must be less or equal to the period. Same as field type

PWM

Properties of a PWM signal channel.

  • Abbreviation: PWM
  • Identification Number: 316
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Channel Identifier id - uint8_t PWM channel identifier. Same as field type
Period period µs uint32_t The total period of the PWM signal (sum of active and inactive time of the PWM). Same as field type
Duty Cycle duty_cycle µs uint32_t The active time of the PWM signal. The duty cycle value is less or equal to the period. Same as field type