Actuation Messages

Camera Zoom

Camera Zoom.

  • Abbreviation: CameraZoom
  • Identification Number: 300
  • Payload Size: 3 bytes
  • Message Size: 25 bytes
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 (Enum Action) uint8_t The zoom action to perform. Same as field type

Enum Action

The zoom action to perform.

  • Abbreviation: action
  • Prefix: ACTION
Value Name Abbreviation Description
0 Reset Zoom ZOOM_RESET -
1 Zoom In ZOOM_IN -
2 Zoom Out ZOOM_OUT -
3 Stop Zooming ZOOM_STOP -

Set Thruster Actuation

Actuate directly on a thruster.

  • Abbreviation: SetThrusterActuation
  • Identification Number: 301
  • Payload Size: 5 bytes
  • Message Size: 27 bytes
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. min=-1, max=1

Set Servo Position

Set the position of a servo.

  • Abbreviation: SetServoPosition
  • Identification Number: 302
  • Payload Size: 5 bytes
  • Message Size: 27 bytes
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. min=-1.5707963267948966, max=1.5707963267948966

Set Control Surface Deflection

Set the deflection angle of a control surface.

  • Abbreviation: SetControlSurfaceDeflection
  • Identification Number: 303
  • Payload Size: 5 bytes
  • Message Size: 27 bytes
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.

Verbs to use:

Verb Type LAUV Use Verb alternatives Notes
Accelerate Button yes    
Arm Button     Should use ArmState message for state
Decelerate Button yes    
Disarm Button      
Exit Button yes    
Heading Axis yes Yaw, Rotate, Turning  
Lateral Axis   Sway, Sideways  
Pitch Axis      
Roll Axis   Bank  
Stop Button yes    
Thrust Axis yes Surge, Forward, Throtle  
Vertical Axis   Heave, Up, Ascende, VerticalRate, Depth, Z  
(type)      

Special actions for configuration:

Verb Special Type Notes
Ranges Decimal, Range127 Decimal [-1.0; 1.0], Range127[-127; 127] (default)

Types:

Type Note
Axis Axis like (full range)
Button A button (0 for release, 1 for press)
Slider Slider like (full range)
HalfSlider Slider like, but only the positive half of the range
  • Abbreviation: RemoteActionsRequest
  • Identification Number: 304
  • Payload Size: 3+ bytes
  • Message Size: 25+ bytes
Name Abbreviation Unit Type Description Range
operation op Enumerated (Enum operation) uint8_t Operation to perform. Same as field type
Actions actions TupleList plaintext Example: “Propulsion=Axis,Lights=Button” Same as field type

Enum operation

Operation to perform.

  • Abbreviation: op
  • Prefix: OP
Value Name Abbreviation Description
0 Report REPORT -
1 Query QUERY -

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
  • Payload Size: 2+ bytes
  • Message Size: 24+ bytes
  • Flags: periodic
Name Abbreviation Unit Type Description Range
Actions actions TupleList plaintext List of values for each remote action (e.g: “Propeller=0.6,PanTilt=0.75,Lights=1”). Same as field type

Button Event

Event of a specific hardware button.

  • Abbreviation: ButtonEvent
  • Identification Number: 306
  • Payload Size: 2 bytes
  • Message Size: 24 bytes
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
  • Payload Size: 3+ bytes
  • Message Size: 25+ bytes
Name Abbreviation Unit Type Description Range
Operation op Enumerated (Enum Operation) 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

Enum Operation

The LCD action to perform

  • Abbreviation: op
  • Prefix: OP
Value Name Abbreviation Description
0 Turn off display TURN_OFF -
1 Turn on display TURN_ON -
2 Clear display CLEAR -
3 Write Line #0 WRITE0 -
4 Write Line #1 WRITE1 -

Power Operation

This message allows controlling the system’s power lines.

  • Abbreviation: PowerOperation
  • Identification Number: 308
  • Payload Size: 13 bytes
  • Message Size: 35 bytes
Name Abbreviation Unit Type Description Range
Operation op Enumerated (Enum Operation) 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

Enum Operation

Operation type.

  • Abbreviation: op
  • Prefix: POP
Value Name Abbreviation Description
0 Power Down PWR_DOWN Request the destination entity of this message to power down it’s devices immediately. If the destination entity is the special entity ‘0’ the whole system will power down.
1 Power Down in Progress PWR_DOWN_IP The latest power down request is in progress and the time remaining until power down is given in field ‘time_remain’.
2 Power Down Aborted PWR_DOWN_ABORTED The latest power down request was aborted.
3 Schedule Power Down SCHED_PWR_DOWN Request the destination entity of this message to power down it’s devices at the time given in the field ‘sched_time’. If the destination entity is the special entity ‘0’ the whole system will power down.
4 Power Up PWR_UP Request the destination entity of this message to power up it’s devices.
5 Power Up in Progress PWR_UP_IP The latest power up request is in progress.
6 Schedule Power Up SCHED_PWR_UP Request the destination entity of this message to power up it’s devices at the time given in the field ‘sched_time’. If the destination entity is the special entity ‘0’ the whole system will power up.

Power Channel Control

This message allows controlling power channels.

  • Abbreviation: PowerChannelControl
  • Identification Number: 309
  • Payload Size: 11+ bytes
  • Message Size: 33+ bytes
Name Abbreviation Unit Type Description Range
Channel Name name - plaintext The name of the power channel. Same as field type
Operation op Enumerated (Enum Operation) uint8_t Operation to perform. max=6
Scheduled Time sched_time s fp64_t Scheduled time of operation. Same as field type

Enum Operation

Operation to perform.

  • Abbreviation: op
  • Prefix: PCC_OP
Value Name Abbreviation Description
0 Turn Off TURN_OFF Turn off power channel specified in field ‘id’.
1 Turn On TURN_ON Turn on power channel specified in field ‘id’.
2 Toggle TOGGLE Toggle power channel specified in field ‘id’.
3 Schedule Turn On SCHED_ON Turn on power channel specified in field ‘id’ in ‘sched_time’ seconds.
4 Schedule Turn Off SCHED_OFF Turn off power channel specified in field ‘id’ in ‘sched_time’ seconds.
5 Reset Schedules SCHED_RESET Reset all scheduled operations for the channel specified in field ‘id’.
6 Save Current State SAVE Save the current state of the channel ‘id’ to persistent storage.
7 Restart RESTART Restart power channel specified in field ‘id’.

Query Power Channel State

Request the state of power channels.

  • Abbreviation: QueryPowerChannelState
  • Identification Number: 310
  • Payload Size: 0 bytes
  • Message Size: 22 bytes

This message has no fields.

Power Channel State

Message conveying the state of a power channel.

  • Abbreviation: PowerChannelState
  • Identification Number: 311
  • Payload Size: 3+ bytes
  • Message Size: 25+ bytes
Name Abbreviation Unit Type Description Range
Name name - plaintext Power Channel Name. Same as field type
State state Enumerated (Enum State) uint8_t State of the Power Channel. Same as field type

Enum State

State of the Power Channel.

  • Abbreviation: state
  • Prefix: PCS
Value Name Abbreviation Description
0 Off OFF Power channel is off.
1 On ON Power channel is on.

LED Brightness

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

  • Abbreviation: LedBrightness
  • Identification Number: 312
  • Payload Size: 3+ bytes
  • Message Size: 25+ bytes
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
  • Payload Size: 2+ bytes
  • Message Size: 24+ bytes
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
  • Payload Size: 3+ bytes
  • Message Size: 25+ bytes
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
  • Payload Size: 9 bytes
  • Message Size: 31 bytes
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
  • Payload Size: 9 bytes
  • Message Size: 31 bytes
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

GPIO State

Current state of a GPIO.

  • Abbreviation: GpioState
  • Identification Number: 2000
  • Payload Size: 3+ bytes
  • Message Size: 25+ bytes
Name Abbreviation Unit Type Description Range
Name name - plaintext GPIO Name. Same as field type
Value value - uint8_t Logical level of the GPIO. Same as field type

Get GPIO State

Request the state of a given GPIO. The receiving entity shall reply with a GpioState message.

  • Abbreviation: GpioStateGet
  • Identification Number: 2001
  • Payload Size: 2+ bytes
  • Message Size: 24+ bytes
Name Abbreviation Unit Type Description Range
Name name - plaintext GPIO Name. Same as field type

Set GPIO State

Set the state of a given GPIO. The receiving entity shall reply with a GpioState message.

  • Abbreviation: GpioStateSet
  • Identification Number: 2002
  • Payload Size: 3+ bytes
  • Message Size: 25+ bytes
Name Abbreviation Unit Type Description Range
Name name - plaintext GPIO Name. Same as field type
Value value - uint8_t Logical level of the GPIO. Same as field type

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Last updated on Apr 19, 2024.