-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathIMC.xml
7802 lines (7501 loc) · 295 KB
/
IMC.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
<?xml version="1.0" encoding="UTF-8"?>
<!--
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ Copyright (C) 2007-2014 Laboratório de Sistemas e Tecnologia Subaquática +
+ Departamento de Engenharia Electrotécnica e de Computadores +
+ Rua Dr. Roberto Frias, 4200-465 Porto, Portugal +
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-->
<messages xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="IMC.xsd"
name="IMC"
long-name="Inter Module Communication"
version="5.5.x">
<description>
This document describes the communications protocol associated
with the LSTS software framework. Concepts such as *message*,
*field* and *packet* are explained in detail in the subsequent
chapters.
Inter module communication is achieved by the exchange of messages
that can be recognized and interpreted by all participating
modules. A message is a self-contained collection of data fields
conveying relevant information about a given subject. The mean by
which the messages are exchanged is not described in this
document, but the reader can assume that at least the UDP Internet
protocol is available at all ends of the communications channel.
The Neptus Command and Control Unit (CCU), currently being used at
LSTS, supports mission planning and control, using the described
messaging API. This software entity can be used to define a plan
before execution and monitor the plan's execution by presenting an
operating console. For further details on this software contact
the LSTS.
A CCU exercises authority over a vehicle (real or
simulated). Usually this term is applied to software in the class
of LSTS Neptus, but can also be applied to software modules
extending the vehicle core control software.
The LSTS reserves itself the right to use message identification
numbers up to 999. Thus if a third party needs to extend this API
it must use identification numbers starting at 1000. The
identification number 65535 has a special meaning and must not be
used to extend the IMC protocol.
</description>
<types>
<description>
Messages and packets can be viewed as a finite collection of
fields. The list of valid field types is presented below.
</description>
<type name="int8_t" size="1">
<description>
8 bit signed integer.
</description>
</type>
<type name="uint8_t" size="1">
<description>
8 bit unsigned integer.
</description>
</type>
<type name="int16_t" size="2">
<description>
16 bit signed integer.
</description>
</type>
<type name="uint16_t" size="2">
<description>
16 bit unsigned integer.
</description>
</type>
<type name="int32_t" size="4">
<description>
32 bit signed integer.
</description>
</type>
<type name="uint32_t" size="4">
<description>
32 bit unsigned integer.
</description>
</type>
<type name="int64_t" size="8">
<description>
A 64 bit signed integer
</description>
</type>
<type name="fp32_t" size="4">
<description>
32 bit single precision floating point number in IEEE 754 format.
</description>
</type>
<type name="fp64_t" size="8">
<description>
64 bit double precision floating point number in IEEE 754 format.
</description>
</type>
<type name="rawdata">
<description>
Variable length byte stream.
</description>
</type>
<type name="plaintext">
<description>
Variable length ASCII character stream.
</description>
</type>
<type name="message">
<description>
An inline message. Useful for encapsulating other messages.
</description>
</type>
<type name="message-list">
<description>
A list of messages.
</description>
</type>
</types>
<serialization>
<description>
To ensure accurate transportation some field types may require
special treatment on transmission and reception. The operation
of preparing a field type for transmission is called
serialization, the inverse action is called deserialization. No
special serialization is required for types that are not
described in the table below, their values should be used as is.
</description>
<type name="rawdata">
<description>
A sequence of type *rawdata* is serialized by prepending a
value of type *uint16_t*, representing the length of the
sequence, to the stream of bytes. On deserialization the
prepended value is used to retrieve the correct size of data
bytes. The *rawdata* type length is limited only by the
communication protocol in use.
</description>
</type>
<type name="plaintext">
<description>
A sequence of type *plaintext* is serialized by prepending a
value of type *uint16_t*, representing the length of the
sequence, to the stream of ASCII characters. On
deserialization the prepended value is used to retrieve the
correct ASCII character sequence size. The *plaintext* type
length is limited only by the communication protocol in use.
</description>
</type>
<type name="message">
<description>
A field of type *message* is serialized by prepending a value
of type *uint16_t*, representing the identification number of
the message, to the serialized message payload. The special
identification number 65535 must be used when no message is
present. On deserialization the prepended value is used to
retrieve the correct message identification number. The
*message* type length is limited only by the communication
protocol in use.
</description>
</type>
<type name="message-list">
<description>
A field of type *message-list* is serialized by prepending a
value of type *uint16_t*, representing the number of messages
in the list, to the serialized message payload. On
deserialization the prepended value is used to retrieve the
correct number of messages
</description>
</type>
</serialization>
<units>
<description>
The following table lists the units used in the subsequent
chapters.
</description>
<unit abbrev="A" name="Ampere"/>
<unit abbrev="bit" name="Bit"/>
<unit abbrev="bps" name="Bits per second"/>
<unit abbrev="byte" name="Byte"/>
<unit abbrev="g" name="Gravity acceleration"/>
<unit abbrev="dB" name="Decibel"/>
<unit abbrev="dB/m" name="Decibel per meter"/>
<unit abbrev="dBHz" name="Decibel hertz"/>
<unit abbrev="°" name="Degree"/>
<unit abbrev="°C" name="Degree Celsius"/>
<unit abbrev="G" name="Gauss"/>
<unit abbrev="hPa" name="Hectopascal"/>
<unit abbrev="Hz" name="Hertz"/>
<unit abbrev="kg/m/m/m" name="Kilogram per cubic metre"/>
<unit abbrev="MiB" name="Mebibyte"/>
<unit abbrev="m" name="Meter"/>
<unit abbrev="m/s" name="Meter per second"/>
<unit abbrev="m/s/s" name="Meter per second^2"/>
<unit abbrev="ms" name="Millisecond"/>
<unit abbrev="µs" name="Microsecond"/>
<unit abbrev="S/m" name="Siemens per meter"/>
<unit abbrev="Nm" name="Newton meter"/>
<unit abbrev="N" name="Newton"/>
<unit abbrev="Pa" name="Pascal"/>
<unit abbrev="%" name="Percent"/>
<unit abbrev="PSU" name="Pratical Salinity Unit"/>
<unit abbrev="rad" name="Radian"/>
<unit abbrev="rad/s" name="Radian per second"/>
<unit abbrev="rpm" name="Revolutions per minute"/>
<unit abbrev="rpm/s" name="Revolutions per minute per second"/>
<unit abbrev="s" name="Second"/>
<unit abbrev="V" name="Volt"/>
<unit abbrev="Enumerated" name="Enumeration of integer values"/>
<unit abbrev="List" name="Comma separated list of values"/>
<unit abbrev="Bitfield" name="Bit field"/>
<unit abbrev="TupleList" name="List of key/value tuples">
<description>
This unit is a list of label/value tuples and is only valid in
plaintext fields. The label and value portions of a tuple are
separated using the equal sign (=) and tuples are separated
using the semicolon character (;). These delimiting characters
must not be used elsewhere. Leading and trailing semicolons
must be removed.
Examples: "label1=12;label2=3" or "label1=12" or "label1=test_2".
</description>
</unit>
</units>
<enumerations>
<def name="Boolean Value" abbrev="Boolean" prefix="BOOL">
<value id="0" name="False" abbrev="FALSE"/>
<value id="1" name="True" abbrev="TRUE"/>
</def>
<def name="Controlled Mode" abbrev="ControlledMode" prefix="CTLMD">
<value id="0" name="Relinquish / Handoff Control" abbrev="RELINQUISH_HANDOFF_CTL"/>
<value id="1" name="Request Control" abbrev="REQUEST_CTL"/>
<value id="2" name="Override Control" abbrev="OVERRIDE_CTL"/>
</def>
<def name="Speed Units" abbrev="SpeedUnits" prefix="SUNITS">
<value id="0" name="Meters per second" abbrev="METERS_PS"/>
<value id="1" name="RPM" abbrev="RPM"/>
<value id="2" name="Percentage" abbrev="PERCENTAGE"/>
</def>
<def name="System Type" abbrev="SystemType" prefix="SYSTEMTYPE">
<value id="0" name="CCU" abbrev="CCU"/>
<value id="1" name="Human-portable Sensor" abbrev="HUMANSENSOR"/>
<value id="2" name="UUV" abbrev="UUV"/>
<value id="3" name="USV" abbrev="USV"/>
<value id="4" name="UAV" abbrev="UAV"/>
<value id="5" name="UGV" abbrev="UGV"/>
<value id="6" name="Static sensor" abbrev="STATICSENSOR"/>
<value id="7" name="Mobile sensor" abbrev="MOBILESENSOR"/>
<value id="8" name="Wireless Sensor Network" abbrev="WSN"/>
</def>
<def name="Z Units" abbrev="ZUnits" prefix="Z" >
<value id="0" name="None" abbrev="NONE"/>
<value id="1" name="Depth" abbrev="DEPTH"/>
<value id="2" name="Altitude" abbrev="ALTITUDE"/>
<value id="3" name="Height" abbrev="HEIGHT"/>
</def>
</enumerations>
<bitfields>
<def prefix="CL" name="Control Loops Mask" abbrev="CLoopsMask">
<value id="0x00000000" abbrev="NONE" name="None"/>
<value id="0x00000001" abbrev="PATH" name="Path Control"/>
<value id="0x00000002" abbrev="TELEOPERATION" name="Teleoperation Control"/>
<value id="0x00000004" abbrev="ALTITUDE" name="Altitude Control"/>
<value id="0x00000008" abbrev="DEPTH" name="Depth Control"/>
<value id="0x00000010" abbrev="ROLL" name="Roll Control"/>
<value id="0x00000020" abbrev="PITCH" name="Pitch Control"/>
<value id="0x00000040" abbrev="YAW" name="Yaw Control"/>
<value id="0x00000080" abbrev="SPEED" name="Speed Control"/>
<value id="0x00000100" abbrev="YAW_RATE" name="Yaw Rate Control"/>
<value id="0x00000200" abbrev="VERTICAL_RATE" name="Vertical Rate Control"/>
<value id="0x00000400" abbrev="TORQUE" name="Torque Control"/>
<value id="0x40000000" abbrev="EXTERNAL" name="Unspecified External Control"/>
<value id="0x80000000" abbrev="NO_OVERRIDE" name="Non-overridable control"/>
<value id="0xFFFFFFFF" abbrev="ALL" name="All"/>
</def>
<def prefix="OPL" name="Operational Limits Mask" abbrev="OpLimitsMask">
<value id="0x01" name="Maximum Depth" abbrev="MAX_DEPTH"/>
<value id="0x02" name="Minimum Altitude" abbrev="MIN_ALT"/>
<value id="0x04" name="Maximum Altitude" abbrev="MAX_ALT"/>
<value id="0x08" name="Minimum Speed" abbrev="MIN_SPEED"/>
<value id="0x10" name="Maximum Speed" abbrev="MAX_SPEED"/>
<value id="0x20" name="Maximum Vertical Rate" abbrev="MAX_VRATE"/>
<value id="0x40" name="Operation Area" abbrev="AREA"/>
</def>
</bitfields>
<message-groups>
<message-group name="Maneuver" abbrev="Maneuver">
<message-type abbrev="Goto"/>
<message-type abbrev="PopUp"/>
<message-type abbrev="Teleoperation"/>
<message-type abbrev="Loiter"/>
<message-type abbrev="IdleManeuver"/>
<message-type abbrev="LowLevelControl"/>
<message-type abbrev="Rows"/>
<message-type abbrev="FollowPath"/>
<message-type abbrev="YoYo"/>
<message-type abbrev="StationKeeping"/>
<message-type abbrev="Elevator"/>
<message-type abbrev="FollowTrajectory"/>
<message-type abbrev="CustomManeuver"/>
<message-type abbrev="VehicleFormation"/>
<message-type abbrev="CompassCalibration"/>
<message-type abbrev="CoverArea"/>
<message-type abbrev="FollowReference"/>
<message-type abbrev="CommsRelay"/>
<message-type abbrev="Formation"/>
<message-type abbrev="Dislodge"/>
</message-group>
<message-group name="Control Command" abbrev="ControlCommand">
<message-type abbrev="DesiredZ"/>
<message-type abbrev="DesiredHeading"/>
<message-type abbrev="DesiredRoll"/>
<message-type abbrev="DesiredPitch"/>
<message-type abbrev="DesiredSpeed"/>
<message-type abbrev="DesiredPath"/>
</message-group>
<message-group abbrev="Payload" name="Payload">
<message-type abbrev="SonarConfig"/>
</message-group>
</message-groups>
<flags>
<flag abbrev="periodic" name="Periodic"/>
<flag abbrev="deprecated" name="Deprecated"/>
</flags>
<header>
<description>
The packet header contains handling information in the form of
supplemental fields, it is always placed at the beginning of a
packet.
</description>
<field name="Synchronization Number" abbrev="sync" type="uint16_t" value="0xFE55" fixed="true">
<description>
The synchronization number marks the beginning of a packet.
It denotes the packet API version and can be used to deduce
the byte order of the sending host.
It encodes value 0xFE[major][minor] where [major] equals the
major version number of the protocol and [minor] equals the
minor version of the protocol.
The packet recipient is responsible for the correct
interpretation of the synchronization number and byte order
conversions.
</description>
</field>
<field name="Message Identification Number" abbrev="mgid" type="uint16_t">
<description>
The identification number of the message contained in the
packet. This field is used for correct message interpretation
and deserialization.
</description>
</field>
<field name="Message size" abbrev="size" type="uint16_t" unit="byte">
<description>
The size of the message data in the packet.
</description>
</field>
<field name="Time stamp" abbrev="timestamp" type="fp64_t" unit="s">
<description>
The time when the packet was sent, as seen by the packet
dispatcher. The number of seconds is represented in Universal
Coordinated Time (UCT) in seconds since Jan 1, 1970 using IEEE
double precision floating point numbers.
</description>
</field>
<field name="Source Address" abbrev="src" type="uint16_t">
<description>
The Source IMC system ID.
</description>
</field>
<field name="Source Entity" abbrev="src_ent" type="uint8_t">
<description>
The entity generating this message at the source address.
</description>
</field>
<field name="Destination Address" abbrev="dst" type="uint16_t">
<description>
The Destination IMC system ID.
</description>
</field>
<field name="Destination Entity" abbrev="dst_ent" type="uint8_t">
<description>
The entity that should process this message at the destination
address.
</description>
</field>
</header>
<footer>
<description>
The packet footer contains validation information in the form of
supplemental fields, it is always placed at the end of a packet.
</description>
<field name="Check Sum (CRC-16-IBM)" abbrev="crc16" type="uint16_t">
<description>
The check sum field is computed using the CRC-16-IBM with
polynomial 0x8005 (x^16 + x^15 + x^2 + 1). The data
contributing for the CRC includes all preceding header and
message bytes.
</description>
</field>
</footer>
<groups>
<group name="Core" abbrev="GroupCore" min="0" max="49"/>
<group name="Simulation" abbrev="GroupSimulation" min="50" max="99"/>
<group name="Storage" abbrev="GroupStorage" min="100" max="149"/>
<group name="Networking" abbrev="GroupNetworking" min="150" max="199"/>
<group name="Acoustic Networking" abbrev="GroupAcousticNetworking" min="200" max="249"/>
<group name="Sensors" abbrev="GroupSensors" min="250" max="299"/>
<group name="Actuation" abbrev="GroupActuation" min="300" max="349"/>
<group name="Navigation" abbrev="GroupNavigation" min="350" max="399"/>
<group name="Guidance" abbrev="GroupGuidance" min="400" max="449"/>
<group name="Maneuvering" abbrev="GroupManeuvering" min="450" max="499"/>
<group name="Vehicle Supervision" abbrev="GroupVehicleSupervision" min="500" max="549"/>
<group name="Plan Supervision" abbrev="GroupPlanSupervision" min="550" max="599"/>
<group name="CCU" abbrev="GroupCcu" min="600" max="649"/>
<group name="Autonomy" abbrev="GroupAutonomy" min="650" max="699"/>
<group name="Vision" abbrev="GroupVision" min="700" max="749"/>
<group name="External" abbrev="GroupExternal" min="750" max="799"/>
<group name="Development" abbrev="GroupDevelopment" min="800" max="849"/>
<group name="Custom" abbrev="GroupCustom" min="1000" max="65534"/>
</groups>
<!-- Core -->
<message id="1" name="Entity State" abbrev="EntityState" source="vehicle">
<description>
State reported by an entity in the vehicle. The source entity is
identified in the message header.
</description>
<field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="ESTA">
<description>
State of entity.
</description>
<value id="0" name="Bootstrapping" abbrev="BOOT"/>
<value id="1" name="Normal Operation" abbrev="NORMAL"/>
<value id="2" name="Fault" abbrev="FAULT"/>
<value id="3" name="Error" abbrev="ERROR"/>
<value id="4" name="Failure" abbrev="FAILURE"/>
</field>
<field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="EFLA">
<description>
Complementary entity state flags.
</description>
<value id="0x01" abbrev="HUMAN_INTERVENTION" name="Human Intervention Required"/>
</field>
<field name="Complementary description" type="plaintext" abbrev="description">
<description>
Complementary human-readable description of entity state.
</description>
</field>
</message>
<message id="2" name="Query Entity State" abbrev="QueryEntityState" flags="periodic">
<description>
Request entities to report their state. Entities should respond
by issuing an appropriate EntityState message.
</description>
</message>
<message id="3" name="Entity Information" abbrev="EntityInfo" source="vehicle">
<description>
This message describes an entity.
</description>
<field name="Entity Identifier" abbrev="id" type="uint8_t">
<description>
Entity identifier.
</description>
</field>
<field name="Label" abbrev="label" type="plaintext">
<description>
Entity label or empty if the entity id is not valid.
</description>
</field>
<field name="Component name" abbrev="component" type="plaintext">
<description>
Name of the plugin/component/subsystem associated with this
entity.
</description>
</field>
<field name="Activation Time" abbrev="act_time" type="uint16_t" unit="s">
<description>
Amount of time needed to properly activate the entity.
</description>
</field>
<field name="Deactivation Time" abbrev="deact_time" type="uint16_t" unit="s">
<description>
Amount of time needed to properly deactivate the entity.
</description>
</field>
</message>
<message id="4" name="Query Entity Information" abbrev="QueryEntityInfo" source="ccu">
<description>
Request information about an entity identifier. The receiving
system shall reply with an EntityInfo message with the details
of that entity.
</description>
<field name="Entity Identifier" abbrev="id" type="uint8_t">
<description>
Entity identifier.
</description>
</field>
</message>
<message id="5" name="Entity List" abbrev="EntityList" source="vehicle">
<description>
This message describes the names and identification numbers of
all entities in the system.
</description>
<field name="operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
<description>
Operation to perform.
</description>
<value abbrev="REPORT" name="Report" id="0"/>
<value abbrev="QUERY" name="Query" id="1"/>
</field>
<field name="list" abbrev="list" type="plaintext" unit="TupleList">
<description>
Example: "Battery=11;CTD=3"
</description>
</field>
</message>
<message id="6" name="Entity Control" abbrev="EntityControl" source="vehicle,ccu">
<description>
Control the activity of entities.
</description>
<field name="Operation" abbrev="op" type="uint8_t" prefix="ECO" unit="Enumerated">
<description>
Activate or deactivate an entity.
</description>
<value id="0" abbrev="DEACTIVATE" name="Activate Entity"/>
<value id="1" abbrev="ACTIVATE" name="Deactivate Entity"/>
</field>
</message>
<message id="7" name="CPU Usage" abbrev="CpuUsage" source="vehicle" flags="periodic">
<description>
Report of software CPU usage.
</description>
<field name="Usage percentage" abbrev="value" type="uint8_t" min="0" max="100" unit="%">
<description>
The CPU usage, in percentage, of the sending software.
</description>
</field>
</message>
<message id="8" name="Transport Bindings" abbrev="TransportBindings" source="vehicle">
<description>
Message generated when tasks bind to messages.
</description>
<field name="Consumer name" abbrev="consumer" type="plaintext">
<description>
The name of the consumer (e.g. task name).
</description>
</field>
<field name="Message Identifier" abbrev="message_id" type="uint16_t">
<description>
The id of the message to be listened to.
</description>
</field>
</message>
<message id="9" name="Restart System" abbrev="RestartSystem" source="ccu">
<description>
Request the destination system to restart itself.
</description>
</message>
<message id="10" name="Parameter" abbrev="Parameter" source="ccu,vehicle" flags="deprecated">
<description>
This message gives information about a configuration parameter.
</description>
<field name="Section Name" abbrev="section" type="plaintext">
<description>
The name of the configuration section.
</description>
</field>
<field name="Parameter Name" abbrev="param" type="plaintext">
<description>
The name of the parameter.
</description>
</field>
<field name="Value" abbrev="value" type="plaintext">
<description>
The current value of the parameter.
</description>
</field>
</message>
<message id="11" name="Parameters Control" abbrev="ParameterControl" source="ccu" flags="deprecated">
<description>
This message is used to control the configuration in
IMC-compatible systems.
</description>
<field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
<description>
The operation to be done to the configuration is encoded here.
</description>
<value abbrev="SET_PARAMS" name="Set Parameters" id="1">
<description>
Change the value of parameters (these changes will be
potentially lost if the vehicle is shut down)
</description>
</value>
<value abbrev="SAVE_PARAMS" name="Save Parameters" id="2">
<description>
Change the value of parameters (these changes will be stored to disk)
</description>
</value>
<value abbrev="RESET_PARAMS" name="Reset Parameters" id="3">
<description>
Revert the passed parameters to default values. If *params*
is empty, then all parameters will be reverted to default.
</description>
</value>
<value abbrev="QUERY_PARAMS" name="Query Parameters" id="4">
<description>
Request a list of current parameter values. The parameters
to be retrieved match that on the *params* field.
</description>
</value>
<value abbrev="PARAMS_LIST" name="Parameters listing" id="5">
<description>
After being queried for parameters, a system answers with a
message using this operation and *params* field set.
</description>
</value>
</field>
<field name="Parameters" abbrev="params" type="message-list" message-type="Parameter">
<description>
The list of parameters to be retrieved / to be set /
answered. Parameters are encoded as a list of :ref:`Parameter`
messages.
</description>
</field>
</message>
<message id="12" name="Device Calibration Control" abbrev="DevCalibrationControl" source="vehicle,ccu">
<description>
This message controls the calibration procedure of a given
device. The destination device is selected using the destination
entity identification number.
</description>
<field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="DCAL">
<description>
Operation to perform.
</description>
<value id="0" name="Start" abbrev="START">
<description>
Start calibration procedure.
</description>
</value>
<value id="1" name="Stop" abbrev="STOP">
<description>
Stop calibration procedure.
</description>
</value>
<value id="2" name="Perform Next Calibration Step" abbrev="STEP_NEXT">
<description>
Perform next step of the calibration procedure.
</description>
</value>
<value id="3" name="Perform Previous Calibration Step" abbrev="STEP_PREVIOUS">
<description>
Perform previous step of the calibration procedure.
</description>
</value>
</field>
</message>
<message id="13" name="Device Calibration State" abbrev="DevCalibrationState" source="vehicle,ccu">
<description>
State of the calibration procedure.
</description>
<field name="Total Steps" abbrev="total_steps" type="uint8_t">
<description>
Total number of steps of the calibration procedure.
</description>
</field>
<field name="Current Step Number" abbrev="step_number" type="uint8_t">
<description>
Number of the current step being performed.
</description>
</field>
<field name="Description" abbrev="step" type="plaintext">
<description>
Human-readable description of the current step.
</description>
</field>
<field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="DCS">
<description>
Additional flags.
</description>
<value id="0x01" abbrev="PREVIOUS_NOT_SUPPORTED" name="Previous Step Not Supported">
<description>
Jumping to the previous calibration step is not supported.
</description>
</value>
<value id="0x02" abbrev="NEXT_NOT_SUPPORTED" name="Next Step Not Supported">
<description>
Jumping to the next calibration step is not supported.
</description>
</value>
<value id="0x04" abbrev="WAITING_CONTROL" name="Waiting Device Calibration Control">
<description>
The calibration procedure was suspended and must be resumed or
cancelled with a DeviceCalibrationControl message.
</description>
</value>
<value id="0x08" abbrev="ERROR" name="Calibration Error">
<description>
Calibration was interrupted due to an error and must be
restarted or cancelled with a DeviceCalibrationControl
message.
</description>
</value>
<value id="0x10" abbrev="COMPLETED" name="Calibration Procedure Completed">
<description>
The calibration procedure was completed.
</description>
</value>
</field>
</message>
<message id="14" name="Entity Activation State" abbrev="EntityActivationState" source="vehicle,ccu">
<description>
State of entity activation/deactivation.
</description>
<field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="EAS">
<description>
Current state.
</description>
<value id="0" abbrev="INACTIVE" name="Entity is Inactive">
<description>
Entity is inactive.
</description>
</value>
<value id="1" abbrev="ACTIVE" name="Entity is Active">
<description>
Entity is active.
</description>
</value>
<value id="2" abbrev="ACT_IP" name="Activation in Progress">
<description>
Activation is in progress.
</description>
</value>
<value id="3" abbrev="ACT_DONE" name="Activation Completed">
<description>
Activation is completed.
</description>
</value>
<value id="4" abbrev="ACT_FAIL" name="Activation Failed">
<description>
The activation procedure failed and the field 'error' contains the error message.
</description>
</value>
<value id="5" abbrev="DEACT_IP" name="Deactivation In Progress">
<description>
Deactivation is in progress.
</description>
</value>
<value id="6" abbrev="DEACT_DONE" name="Deactivation Completed">
<description>
Deactivation is in progress.
</description>
</value>
<value id="7" abbrev="DEACT_FAIL" name="Deactivation Failed">
<description>
The deactivation procedure failed and the field 'error' contains the error message.
</description>
</value>
</field>
<field name="Error" abbrev="error" type="plaintext">
<description>
Human-readable error message.
</description>
</field>
</message>
<message id="15" name="Query Entity Activation State" abbrev="QueryEntityActivationState" source="vehicle,ccu">
<description>
Query the activation/deactivation state of an entity. The
recipient shall reply with an EntityActivationState message.
</description>
</message>
<message id="16" name="Vehicle Operational Limits" abbrev="VehicleOperationalLimits" source="vehicle,ccu">
<description>
Vehicle opertional limits.
For aircraft this should represent the flight envelope and the dynamic contraints.
</description>
<field name="Action on the vehicle operational limits" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
<description>
Action on the vehicle operation limits
</description>
<value id="0" name="Request" abbrev="REQUEST"/>
<value id="1" name="Set" abbrev="SET"/>
<value id="2" name="Report" abbrev="REPORT"/>
</field>
<field name="Minimum speed" abbrev="speed_min" type="fp32_t" unit="m/s" min="0">
<description>
Minimum operation speed.
For aircraft this is equal or larger then the stall speed.
</description>
</field>
<field name="Maximum speed" abbrev="speed_max" type="fp32_t" unit="m/s" min="0">
<description>
Maximum operation speed.
For aircraft this is limited by the engine power or structural contrains.
</description>
</field>
<field name="Longitudinal maximum acceleration" abbrev="long_accel" type="fp32_t" unit="m/s/s" min="0">
<description>
Maximum longitudinal acceleration.
</description>
</field>
<field name="Maximum MSL altitude" abbrev="alt_max_msl" type="fp32_t" unit="m" min="0">
<description>
Maximum altitude above mean-sea-level.
</description>
</field>
<field name="Maximum Dive Rate Speed Fraction" abbrev="dive_fraction_max" type="fp32_t" min="0">
<description>
Maximum dive rate (negative vertical speed) as a fraction of the longitudinal speed.
</description>
</field>
<field name="Maximum Climb Rate Speed Fraction" abbrev="climb_fraction_max" type="fp32_t" min="0">
<description>
Maximum climb rate (positive vertical speed) as a fraction of the longitudinal speed.
</description>
</field>
<field name="Bank limit" abbrev="bank_max" type="fp32_t" unit="rad" min="0">
<description>
Limit to the bank angle (roll; angle over the xx body-axis).
</description>
</field>
<field name="Bank rate limit" abbrev="p_max" type="fp32_t" unit="rad/s" min="0">
<description>
Limit to the bank angular rate (roll; angle over the xx body-axis).
</description>
</field>
<field name="Minimum pitch angle" abbrev="pitch_min" type="fp32_t" unit="rad">
<description>
Minimum pitch angle (angle over the xx body-axis).
</description>
</field>
<field name="Maximum pitch angle" abbrev="pitch_max" type="fp32_t" unit="rad">
<description>
Maximum pitch angle (angle over the xx body-axis).
</description>
</field>
<field name="Maximum pitch rate" abbrev="q_max" type="fp32_t" unit="rad/s" min="0">
<description>
Maximum pitch angular rate (angle over the xx body-axis).
</description>
</field>
<field name="Minimum load factor" abbrev="g_min" type="fp32_t" unit="g" max="0">
<description>
Minimum load factor, i.e., maximum positive acceleration in the zz body-axis
as a factor of the gravity acceleration at mean-sea-level.
</description>
</field>
<field name="Maximum load factor" abbrev="g_max" type="fp32_t" unit="g" min="0">
<description>
Maximum load factor, i.e., maximum negative acceleration in the zz body-axis
as a factor of the gravity acceleration at mean-sea-level.
</description>
</field>
<field name="Maximum lateral load factor" abbrev="g_lat_max" type="fp32_t" unit="g" min="0">
<description>
Maximum lateral load factor, i.e., maximum acceleration in the yy body-axis
as a factor of the gravity acceleration at mean-sea-level.
</description>
</field>
<field name="Minimum RPMs" abbrev="rpm_min" type="fp32_t" unit="rpm" min="0">
<description>
Minimum motor RPMs.
</description>
</field>
<field name="Maximum RPMs" abbrev="rpm_max" type="fp32_t" unit="rpm" min="0">
<description>
Maximum motor RPMs.
</description>
</field>
<field name="Maximum RPM rate" abbrev="rpm_rate_max" type="fp32_t" unit="rpm/s" min="0">
<description>
Maximum motor RPMs' rate of change.
</description>
</field>
</message>
<message id="20" name="Message List" abbrev="MsgList" >
<field name="Messages" abbrev="msgs" type="message-list"/>
</message>
<!-- Simulation -->
<message id="50" name="Simulated State" abbrev="SimulatedState" source="vehicle">
<description>
This message presents the simulated state of the vehicle. The simulated
state attempts to provide a realistic state interpretation of operating
various kinds of vehicles.
</description>
<field name="Latitude (WGS-84)" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
<description>
WGS-84 Latitude.
</description>
</field>
<field name="Longitude (WGS-84)" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
<description>
WGS-84 Longitude.
</description>
</field>
<field name="Height (WGS-84)" abbrev="height" type="fp32_t" unit="m">
<description>
Height above the WGS-84 ellipsoid.
</description>
</field>
<field name="Offset north (m)" abbrev="x" type="fp32_t" unit="m">
<description>
The North offset of the North/East/Down field.
</description>
</field>
<field name="Offset east (m)" abbrev="y" type="fp32_t" unit="m">
<description>
The East offset of the North/East/Down field.
</description>
</field>
<field name="Offset down (m)" abbrev="z" type="fp32_t" unit="m">
<description>
The Down offset of the North/East/Down field.
</description>
</field>
<field name="Rotation over x axis" abbrev="phi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
<description>
The phi Euler angle from the vehicle's attitude.
</description>
</field>
<field name="Rotation over y axis" abbrev="theta" type="fp32_t" unit="rad" min="-1.57079632679490" max="1.57079632679490">
<description>
The theta Euler angle from the vehicle's attitude.
</description>
</field>
<field name="Rotation over z axis" abbrev="psi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
<description>
The psi Euler angle from the vehicle's attitude.
</description>
</field>
<field name="Body-Fixed xx Linear Velocity" abbrev="u" type="fp32_t" unit="m/s">
<description>
Body-fixed frame xx axis linear velocity component.
</description>
</field>
<field name="Body-Fixed yy Linear Velocity" abbrev="v" type="fp32_t" unit="m/s">
<description>
Body-fixed frame yy axis linear velocity component.
</description>
</field>
<field name="Body-Fixed zz Linear Velocity" abbrev="w" type="fp32_t" unit="m/s">
<description>
Body-fixed frame zz axis linear velocity component.
</description>
</field>
<field name="Angular Velocity in x" abbrev="p" type="fp32_t" unit="rad/s" min="-3.141592653589793" max="3.141592653589793">
<description>
The angular velocity over body-fixed xx axis (roll rate).
</description>
</field>
<field name="Angular Velocity in y" abbrev="q" type="fp32_t" unit="rad/s" min="-3.141592653589793" max="3.141592653589793">
<description>
The angular velocity over body-fixed yy axis (pitch rate).
</description>
</field>
<field name="Angular Velocity in z" abbrev="r" type="fp32_t" unit="rad/s" min="-3.141592653589793" max="3.141592653589793">
<description>
The angular velocity over body-fixed zz axis (yaw rate).
</description>
</field>
<field name="Stream Velocity X (North)" abbrev="svx" type="fp32_t" unit="m/s">
<description>
Stream Velocity xx axis velocity component.
</description>
</field>
<field name="Stream Velocity Y (East)" abbrev="svy" type="fp32_t" unit="m/s">
<description>
Stream Velocity yy axis velocity component.