Core Messages

Entity State

State reported by an entity in the vehicle. The source entity is identified in the message header.

  • Abbreviation: EntityState
  • Identification Number: 1
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
State state Enumerated uint8_t State of entity. Same as field type
Flags flags Bitfield uint8_t Complementary entity state flags. Same as field type
Complementary description description - plaintext Complementary human-readable description of entity state. Same as field type

Query Entity State

Request entities to report their state. Entities should respond by issuing an appropriate EntityState message.

  • Abbreviation: QueryEntityState
  • Identification Number: 2
  • Fixed Payload Size: 0

This message has no fields.

Entity Information

This message describes an entity.

  • Abbreviation: EntityInfo
  • Identification Number: 3
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Entity Identifier id - uint8_t Entity identifier. Same as field type
Label label - plaintext Entity label or empty if the entity id is not valid. Same as field type
Component name component - plaintext Name of the plugin/component/subsystem associated with this entity. Same as field type
Activation Time act_time s uint16_t Amount of time needed to properly activate the entity. Same as field type
Deactivation Time deact_time s uint16_t Amount of time needed to properly deactivate the entity. Same as field type

Query Entity Information

Request information about an entity identifier. The receiving system shall reply with an EntityInfo message with the details of that entity.

  • Abbreviation: QueryEntityInfo
  • Identification Number: 4
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Entity Identifier id - uint8_t Entity identifier. Same as field type

Entity List

This message describes the names and identification numbers of all entities in the system.

  • Abbreviation: EntityList
  • Identification Number: 5
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
operation op Enumerated uint8_t Operation to perform. Same as field type
list list TupleList plaintext Example: “Battery=11;CTD=3” Same as field type

CPU Usage

Report of software CPU usage.

  • Abbreviation: CpuUsage
  • Identification Number: 7
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Usage percentage value % uint8_t The CPU usage, in percentage, of the sending software. Same as field type

Transport Bindings

Message generated when tasks bind to messages.

  • Abbreviation: TransportBindings
  • Identification Number: 8
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Consumer name consumer - plaintext The name of the consumer (e.g. task name). Same as field type
Message Identifier message_id - uint16_t The id of the message to be listened to. Same as field type

Restart System

Request the destination system to restart itself.

  • Abbreviation: RestartSystem
  • Identification Number: 9
  • Fixed Payload Size: 0

This message has no fields.

Device Calibration Control

This message controls the calibration procedure of a given device. The destination device is selected using the destination entity identification number.

  • Abbreviation: DevCalibrationControl
  • Identification Number: 12
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Operation op Enumerated uint8_t Operation to perform. Same as field type

Device Calibration State

State of the calibration procedure.

  • Abbreviation: DevCalibrationState
  • Identification Number: 13
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Total Steps total_steps - uint8_t Total number of steps of the calibration procedure. Same as field type
Current Step Number step_number - uint8_t Number of the current step being performed. Same as field type
Description step - plaintext Human-readable description of the current step. Same as field type
Flags flags Bitfield uint8_t Additional flags. Same as field type

Entity Activation State

State of entity activation/deactivation.

  • Abbreviation: EntityActivationState
  • Identification Number: 14
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
State state Enumerated uint8_t Current state. Same as field type
Error error - plaintext Human-readable error message. Same as field type

Query Entity Activation State

Query the activation/deactivation state of an entity. The recipient shall reply with an EntityActivationState message.

  • Abbreviation: QueryEntityActivationState
  • Identification Number: 15
  • Fixed Payload Size: 0

This message has no fields.

Vehicle Operational Limits

Vehicle opertional limits. For aircraft this should represent the flight envelope and the dynamic contraints.

  • Abbreviation: VehicleOperationalLimits
  • Identification Number: 16
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Action on the vehicle operational limits op Enumerated uint8_t Action on the vehicle operation limits Same as field type
Minimum speed speed_min m/s fp32_t Minimum operation speed. For aircraft this is equal or larger then the stall speed. Same as field type
Maximum speed speed_max m/s fp32_t Maximum operation speed. For aircraft this is limited by the engine power or structural contrains. Same as field type
Longitudinal maximum acceleration long_accel m/s/s fp32_t Maximum longitudinal acceleration. Same as field type
Maximum MSL altitude alt_max_msl m fp32_t Maximum altitude above mean-sea-level. Same as field type
Maximum Dive Rate Speed Fraction dive_fraction_max - fp32_t Maximum dive rate (negative vertical speed) as a fraction of the longitudinal speed. Same as field type
Maximum Climb Rate Speed Fraction climb_fraction_max - fp32_t Maximum climb rate (positive vertical speed) as a fraction of the longitudinal speed. Same as field type
Bank limit bank_max rad fp32_t Limit to the bank angle (roll; angle over the xx body-axis). Same as field type
Bank rate limit p_max rad/s fp32_t Limit to the bank angular rate (roll; angle over the xx body-axis). Same as field type
Minimum pitch angle pitch_min rad fp32_t Minimum pitch angle (angle over the xx body-axis). Same as field type
Maximum pitch angle pitch_max rad fp32_t Maximum pitch angle (angle over the xx body-axis). Same as field type
Maximum pitch rate q_max rad/s fp32_t Maximum pitch angular rate (angle over the xx body-axis). Same as field type
Minimum load factor g_min g fp32_t Minimum load factor, i.e., maximum positive acceleration in the zz body-axis as a factor of the gravity acceleration at mean-sea-level. Same as field type
Maximum load factor g_max g fp32_t Maximum load factor, i.e., maximum negative acceleration in the zz body-axis as a factor of the gravity acceleration at mean-sea-level. Same as field type
Maximum lateral load factor g_lat_max g fp32_t Maximum lateral load factor, i.e., maximum acceleration in the yy body-axis as a factor of the gravity acceleration at mean-sea-level. Same as field type
Minimum RPMs rpm_min rpm fp32_t Minimum motor RPMs. Same as field type
Maximum RPMs rpm_max rpm fp32_t Maximum motor RPMs. Same as field type
Maximum RPM rate rpm_rate_max rpm/s fp32_t Maximum motor RPMs’ rate of change. Same as field type

Message List

No description

  • Abbreviation: MsgList
  • Identification Number: 20
  • Fixed Payload Size: 0
Name Abbreviation Unit Type Description Range
Messages msgs - message-list   Same as field type