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IMC.xml
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IMC.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!--
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ Copyright (C) 2007-2023 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="5.4.30">
<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="cm" name="Centimeter"/>
<unit abbrev="cm/s" name="Centimeter per second"/>
<unit abbrev="dm" name="Decimeter"/>
<unit abbrev="dB" name="Decibel"/>
<unit abbrev="dB/m" name="Decibel per meter"/>
<unit abbrev="dBHz" name="Decibel hertz"/>
<unit abbrev="dBm" name="Decibel milliwatts."/>
<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 square second"/>
<unit abbrev="Mbps" name="Megabits per second"/>
<unit abbrev="ms" name="Millisecond"/>
<unit abbrev="µs" name="Microsecond"/>
<unit abbrev="ns" name="Nanosecond"/>
<unit abbrev="S/m" name="Siemens per meter"/>
<unit abbrev="kg" name="Kilogram"/>
<unit abbrev="Nm" name="Newton meter"/>
<unit abbrev="NTU" name="Nephelometric Turbidity Unit"/>
<unit abbrev="N" name="Newton"/>
<unit abbrev="Pa" name="Pascal"/>
<unit abbrev="%" name="Percent"/>
<unit abbrev="PPM" name="Parts per million"/>
<unit abbrev="PPB" name="Parts per billion"/>
<unit abbrev="PSU" name="Pratical Salinity Unit"/>
<unit abbrev="1/m" name="Inverse Meter"/>
<unit abbrev="px" name="Pixel"/>
<unit abbrev="µg/L" name="Microgram per liter"/>
<unit abbrev="µM" name="Micromolar"/>
<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>
<def name="RSSI Units" abbrev="RSSIUnits" prefix="RSSIUNITS">
<value id="0" name="Decibel" abbrev="dB"/>
<value id="1" name="Percentage" abbrev="PERCENTAGE"/>
</def>
<def name="UAV Type" abbrev="UAVType" prefix="UAVTYPE">
<value id="0" name="Fixed-Wing" abbrev="FIXEDWING"/>
<value id="1" name="Copter" abbrev="COPTER"/>
<value id="2" name="Vtol" abbrev="VTOL"/>
</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="0x00000800" abbrev="FORCE" name="Force Control"/>
<value id="0x00001000" abbrev="VELOCITY" name="Velocity Control"/>
<value id="0x00002000" abbrev="THROTTLE" name="Throttle 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="Alignment"/>
<message-type abbrev="AutonomousSection"/>
<message-type abbrev="CommsRelay"/>
<message-type abbrev="CompassCalibration"/>
<message-type abbrev="CoverArea"/>
<message-type abbrev="CustomManeuver"/>
<message-type abbrev="Dislodge"/>
<message-type abbrev="Drop"/>
<message-type abbrev="IdleManeuver"/>
<message-type abbrev="ImageTracking"/>
<message-type abbrev="Elevator"/>
<message-type abbrev="FollowPath"/>
<message-type abbrev="FollowPoint"/>
<message-type abbrev="FollowReference"/>
<message-type abbrev="FollowTrajectory"/>
<message-type abbrev="FormationPlanExecution"/>
<message-type abbrev="Goto"/>
<message-type abbrev="Land"/>
<message-type abbrev="Launch"/>
<message-type abbrev="Loiter"/>
<message-type abbrev="LowLevelControl"/>
<message-type abbrev="Magnetometer"/>
<message-type abbrev="PopUp"/>
<message-type abbrev="Rows"/>
<message-type abbrev="RowsCoverage"/>
<message-type abbrev="Sample"/>
<message-type abbrev="ScheduledGoto"/>
<message-type abbrev="StationKeeping"/>
<message-type abbrev="StationKeepingExtended"/>
<message-type abbrev="Takeoff"/>
<message-type abbrev="Teleoperation"/>
<message-type abbrev="VehicleFormation"/>
<message-type abbrev="YoYo"/>
</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-type abbrev="DesiredThrottle"/>
</message-group>
<message-group name="RemoteData" abbrev="RemoteData">
<message-type abbrev="RemoteCommand"/>
<message-type abbrev="HistoricSample"/>
</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="0xFE54" 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>
<categories>
<category name="Core"/>
<category name="Acoustic Communication"/>
<category name="Acoustic Networking"/>
<category name="Actuation"/>
<category name="Autonomy"/>
<category name="CCU"/>
<category name="Development"/>
<category name="Guidance"/>
<category name="Maneuvering"/>
<category name="Navigation"/>
<category name="Networking"/>
<category name="Plan Supervision"/>
<category name="Sensors"/>
<category name="Simulation"/>
<category name="Storage"/>
<category name="Vehicle Supervision"/>
<category name="Vision"/>
<category name="Custom"/>
<category name="External"/>
</categories>
<!-- Core -->
<message id="1" name="Entity State" abbrev="EntityState" source="vehicle" category="Core">
<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" category="Core">
<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" category="Core">
<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" category="Core">
<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" category="Core">
<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="7" name="CPU Usage" abbrev="CpuUsage" source="vehicle" flags="periodic" category="Core">
<description>
Report of software CPU usage.
</description>
<field name="Usage percentage" abbrev="value" type="uint8_t" 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" category="Core">
<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" category="Core">
<description>
Request the destination system to restart itself.
</description>
<field name="Restart Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="RSTYPE">
<value abbrev="DUNE" name="Dune" id="1">
<description>Request a DUNE restart</description>
</value>
<value abbrev="SYSTEM" name="System" id="2">
<description>Request a system restart.</description>
</value>
</field>
</message>
<message id="12" name="Device Calibration Control" abbrev="DevCalibrationControl" source="vehicle,ccu" category="Core">
<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" category="Core">
<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" category="Core">
<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" category="Core">
<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" category="Core">
<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" category="Core">
<field name="Messages" abbrev="msgs" type="message-list"/>
</message>
<!-- Simulation -->
<message id="50" name="Simulated State" abbrev="SimulatedState" source="vehicle" category="Simulation">
<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.
</description>
</field>
<field name="Stream Velocity Z (Down)" abbrev="svz" type="fp32_t" unit="m/s">
<description>
Stream Velocity zz axis velocity component.
</description>
</field>
</message>
<message id="51" name="Leak Simulation" abbrev="LeakSimulation" category="Simulation">
<description>
Simulate leak behavior.
</description>
<field name="Operation" abbrev="op" type="uint8_t" prefix="LSIM" unit="Enumerated">
<description>
Indicates whether leaks have been detected or not.
</description>
<value id="0" abbrev="OFF" name="Leaks Off"/>
<value id="1" abbrev="ON" name="Leaks On"/>
</field>
<field name="Leak Entities" abbrev="entities" type="plaintext">
<description>
Comma separated list of leak entities (empty for all leaks
configured).
</description>
</field>
</message>
<message id="52" name="Underwater Acoustics Simulation" abbrev="UASimulation" category="Simulation">
<description>