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Guidance.html
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
<title>Guidance Messages — IMC v5.4.11 Specification</title>
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<body>
<div class="document">
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<div class="bodywrapper">
<div class="body">
<div class="section" id="guidance-messages">
<h1>Guidance Messages<a class="headerlink" href="#guidance-messages" title="Permalink to this headline">¶</a></h1>
<div class="section" id="desired-heading">
<span id="desiredheading"></span><h2>Desired Heading<a class="headerlink" href="#desired-heading" title="Permalink to this headline">¶</a></h2>
<p>Desired Heading angle reference value for the control layer.</p>
<ul class="simple">
<li>Abbreviation: DesiredHeading</li>
<li>Identification Number: 400</li>
<li>Payload Size: 8 bytes</li>
<li>Message Size: 30 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="12%" />
<col width="6%" />
<col width="7%" />
<col width="51%" />
<col width="18%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Value</td>
<td>value</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>The value of the desired heading angle, relative to true
north, in radians.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="desired-z">
<span id="desiredz"></span><h2>Desired Z<a class="headerlink" href="#desired-z" title="Permalink to this headline">¶</a></h2>
<p>Desired Z reference value for the control layer.</p>
<ul class="simple">
<li>Abbreviation: DesiredZ</li>
<li>Identification Number: 401</li>
<li>Payload Size: 5 bytes</li>
<li>Message Size: 27 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="11%" />
<col width="18%" />
<col width="7%" />
<col width="40%" />
<col width="16%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Value</td>
<td>value</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>The value of the desired z reference in meters.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Z Units</td>
<td>z_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-zunits"><span class="std std-ref">Enum Z Units</span></a>)</td>
<td>uint8_t</td>
<td>Units of the z reference.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="desired-speed">
<span id="desiredspeed"></span><h2>Desired Speed<a class="headerlink" href="#desired-speed" title="Permalink to this headline">¶</a></h2>
<p>Desired Speed reference value for the control layer.</p>
<ul class="simple">
<li>Abbreviation: DesiredSpeed</li>
<li>Identification Number: 402</li>
<li>Payload Size: 9 bytes</li>
<li>Message Size: 31 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="9%" />
<col width="10%" />
<col width="18%" />
<col width="6%" />
<col width="43%" />
<col width="14%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Value</td>
<td>value</td>
<td><em>-</em></td>
<td>fp64_t</td>
<td>The value of the desired speed, in the scale specified by the
“Speed Units” field.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Speed Units</td>
<td>speed_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-speedunits"><span class="std std-ref">Enum Speed Units</span></a>)</td>
<td>uint8_t</td>
<td>Indicates the units used for the speed value.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="desired-roll">
<span id="desiredroll"></span><h2>Desired Roll<a class="headerlink" href="#desired-roll" title="Permalink to this headline">¶</a></h2>
<p>Desired Roll angle reference value for the control layer.</p>
<ul class="simple">
<li>Abbreviation: DesiredRoll</li>
<li>Identification Number: 403</li>
<li>Payload Size: 8 bytes</li>
<li>Message Size: 30 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="15%" />
<col width="7%" />
<col width="9%" />
<col width="40%" />
<col width="21%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Value</td>
<td>value</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>The value of the desired roll angle.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="desired-pitch">
<span id="desiredpitch"></span><h2>Desired Pitch<a class="headerlink" href="#desired-pitch" title="Permalink to this headline">¶</a></h2>
<p>Desired Pitch angle reference value for the control layer.</p>
<ul class="simple">
<li>Abbreviation: DesiredPitch</li>
<li>Identification Number: 404</li>
<li>Payload Size: 8 bytes</li>
<li>Message Size: 30 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="15%" />
<col width="7%" />
<col width="8%" />
<col width="41%" />
<col width="21%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Value</td>
<td>value</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>The value of the desired pitch angle.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="desired-vertical-rate">
<span id="desiredverticalrate"></span><h2>Desired Vertical Rate<a class="headerlink" href="#desired-vertical-rate" title="Permalink to this headline">¶</a></h2>
<p>Desired Vertical Rate speed reference value for the control layer.</p>
<ul class="simple">
<li>Abbreviation: DesiredVerticalRate</li>
<li>Identification Number: 405</li>
<li>Payload Size: 8 bytes</li>
<li>Message Size: 30 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="12%" />
<col width="6%" />
<col width="7%" />
<col width="52%" />
<col width="17%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Value</td>
<td>value</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>The value of the desired vertical rate speed in meters per
second.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="desired-path">
<span id="desiredpath"></span><h2>Desired Path<a class="headerlink" href="#desired-path" title="Permalink to this headline">¶</a></h2>
<p>Perform path control.</p>
<p>The path is specified by two WGS-84 waypoints, respective
altitude / depth settings, optional loitering at the end point,
and some control flags.</p>
<p>The start and end waypoints are defined by the specified end point fields
(‘end_{lat/lon/z}’) plus:</p>
<p>1. the start waypoint fields (‘start_{lat|lon|z}’) if the
‘START’ flag (bit in ‘flags’ field) is set; or
2. the end point of the previous path recently tracked; or
3. the current location is the ‘DIRECT’ flag is set or if
the tracker has been idle for some time.</p>
<p>Altitude and depth control can be performed as follows:</p>
<p>1. by default, the tracker will just transmit an altitude/depth
reference value equal to ‘end_z’ to the appropriate controller;
2. if the ‘NO_Z’ flag is set no altitude/depth control will take
place, hence they can be controlled independently;
3. if the ‘3DTRACK’ flag is set, 3D-tracking will be done
(if supported by the active controller).</p>
<p>Loitering can be specified at the end point with a certain
radius (‘lradius’), duration (‘lduration’), and clockwise or
counter-clockwise direction (‘CCLOCKW’ flag).</p>
<ul class="simple">
<li>Abbreviation: DesiredPath</li>
<li>Identification Number: 406</li>
<li>Payload Size: 56 bytes</li>
<li>Message Size: 78 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="7%" />
<col width="18%" />
<col width="5%" />
<col width="43%" />
<col width="12%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Path Reference</td>
<td>path_ref</td>
<td><em>-</em></td>
<td>uint32_t</td>
<td>Unsigned integer reference for the scope of the desired path message.
Path reference should only be set by a maneuver.
Should be set to an always increasing reference at the time of dispatching this message.
Lower level path controllers must inherit the same path reference sent by maneuver.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Start Point – Latitude WGS-84</td>
<td>start_lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 latitude of start point. This will be ignored unless
the ‘START’ flag is set.</td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-even"><td>Start Point – WGS-84 Longitude</td>
<td>start_lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 longitude of start point. This will be ignored unless
the ‘START’ flag is set.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>Start Point – Z Reference</td>
<td>start_z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Altitude or depth of start point. This parameter will be
ignored if the ‘NO_Z’ flag is set, or if the ‘START’ flag is
not set.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Start Point – Z Units</td>
<td>start_z_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-zunits"><span class="std std-ref">Enum Z Units</span></a>)</td>
<td>uint8_t</td>
<td>Units of the start point’s z reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>End Point – WGS84 Latitude</td>
<td>end_lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 latitude of end point.</td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-even"><td>End Point – WGS-84 Longitude</td>
<td>end_lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 longitude of end point.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>End Point – Z Reference</td>
<td>end_z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Depth or altitude for the end point. This parameter will be
ignored if the ‘NO_Z’ flag is set.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>End Point – Z Units</td>
<td>end_z_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-zunits"><span class="std std-ref">Enum Z Units</span></a>)</td>
<td>uint8_t</td>
<td>Units of the end point’s z reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Speed</td>
<td>speed</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>Maneuver speed reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Speed Units</td>
<td>speed_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-speedunits"><span class="std std-ref">Enum Speed Units</span></a>)</td>
<td>uint8_t</td>
<td>Speed units.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Loiter – Radius</td>
<td>lradius</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Radius for loitering at end point. Specify less or equal to 0
for no loitering.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Flags</td>
<td>flags</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#desiredpath-bitfield-flags"><span class="std std-ref">Bitfield Flags</span></a>)</td>
<td>uint8_t</td>
<td>Desired Path flags.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="bitfield-flags">
<span id="desiredpath-bitfield-prefix-fl"></span><span id="desiredpath-bitfield-flags"></span><h3>Bitfield Flags<a class="headerlink" href="#bitfield-flags" title="Permalink to this headline">¶</a></h3>
<p>Desired Path flags.</p>
<ul class="simple">
<li>Abbreviation: flags</li>
<li>Prefix: FL</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="24%" />
<col width="11%" />
<col width="59%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0x01</td>
<td>Start Point</td>
<td>START</td>
<td>Indicates that the start point specification is given,
therefore it should be considered for tracking.</td>
</tr>
<tr class="row-odd"><td>0x02</td>
<td>Direct</td>
<td>DIRECT</td>
<td>If start point is not given, ignore also the previous path’s
endpoint and take the start point to be the current vehicle
location.</td>
</tr>
<tr class="row-even"><td>0x04</td>
<td>No Altitude/Depth control</td>
<td>NO_Z</td>
<td>Ignore altitude/depth setting and let them be controlled
independently.</td>
</tr>
<tr class="row-odd"><td>0x08</td>
<td>3D Tracking</td>
<td>3DTRACK</td>
<td>Perform 3D-tracking, i.e., consider the path formed in the
XYZ plane taking into account both the ‘start_z’ and ‘end_z’
values.</td>
</tr>
<tr class="row-even"><td>0x10</td>
<td>Counter-Clockwise loiter</td>
<td>CCLOCKW</td>
<td>Indicates that loitering, if defined, should be done
counter-clockwise. Clockwise loitering will apply
otherwise.</td>
</tr>
<tr class="row-odd"><td>0x20</td>
<td>Loiter from current position</td>
<td>LOITER_CURR</td>
<td>Indicates that loitering, if defined, should be done from
the current vehicle position. The end_lat and end_lon
fields will be ignored.</td>
</tr>
<tr class="row-even"><td>0x40</td>
<td>Takeoff</td>
<td>TAKEOFF</td>
<td>Indicates that takeoff should be done before going to the end position.</td>
</tr>
<tr class="row-odd"><td>0x80</td>
<td>Land</td>
<td>LAND</td>
<td>Indicates that the system should land at the end position.</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="desired-control">
<span id="desiredcontrol"></span><h2>Desired Control<a class="headerlink" href="#desired-control" title="Permalink to this headline">¶</a></h2>
<p>Set the desired virtual forces and torques to be applied to the
vehicle.</p>
<ul class="simple">
<li>Abbreviation: DesiredControl</li>
<li>Identification Number: 407</li>
<li>Payload Size: 49 bytes</li>
<li>Message Size: 71 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="17%" />
<col width="10%" />
<col width="27%" />
<col width="6%" />
<col width="26%" />
<col width="14%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Force along the x axis</td>
<td>x</td>
<td><em>N</em></td>
<td>fp64_t</td>
<td>Force X along the vehicle’s x axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Force along the y axis</td>
<td>y</td>
<td><em>N</em></td>
<td>fp64_t</td>
<td>Force Y along the vehicle’s y axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Force along the z axis</td>
<td>z</td>
<td><em>N</em></td>
<td>fp64_t</td>
<td>Force Z along the vehicle’s z axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Torque about the x axis</td>
<td>k</td>
<td><em>Nm</em></td>
<td>fp64_t</td>
<td>Torque K about the vehicle’s x axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Torque about the y axis</td>
<td>m</td>
<td><em>Nm</em></td>
<td>fp64_t</td>
<td>Torque M about the vehicle’s y axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Torque about the z axis</td>
<td>n</td>
<td><em>Nm</em></td>
<td>fp64_t</td>
<td>Torque N about the vehicle’s z axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Flags</td>
<td>flags</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#desiredcontrol-bitfield-flags"><span class="std std-ref">Bitfield Flags</span></a>)</td>
<td>uint8_t</td>
<td>Desired Control flags.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="desiredcontrol-bitfield-prefix-fl">
<span id="desiredcontrol-bitfield-flags"></span><span id="id1"></span><h3>Bitfield Flags<a class="headerlink" href="#desiredcontrol-bitfield-prefix-fl" title="Permalink to this headline">¶</a></h3>
<p>Desired Control flags.</p>
<ul class="simple">
<li>Abbreviation: flags</li>
<li>Prefix: FL</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="27%" />
<col width="15%" />
<col width="51%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0x01</td>
<td>Value of X is meaningful</td>
<td>X</td>
<td>If enabled then field X has a meaningful value.</td>
</tr>
<tr class="row-odd"><td>0x02</td>
<td>Value of Y is meaningful</td>
<td>Y</td>
<td>If enabled then field Y has a meaningful value.</td>
</tr>
<tr class="row-even"><td>0x04</td>
<td>Value of Z is meaningful</td>
<td>Z</td>
<td>If enabled then field Z has a meaningful value.</td>
</tr>
<tr class="row-odd"><td>0x08</td>
<td>Value of K is meaningful</td>
<td>K</td>
<td>If enabled then field K has a meaningful value.</td>
</tr>
<tr class="row-even"><td>0x10</td>
<td>Value of M is meaningful</td>
<td>M</td>
<td>If enabled then field M has a meaningful value.</td>
</tr>
<tr class="row-odd"><td>0x20</td>
<td>Value of N is meaningful</td>
<td>N</td>
<td>If enabled then field N has a meaningful value.</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="desired-heading-rate">
<span id="desiredheadingrate"></span><h2>Desired Heading Rate<a class="headerlink" href="#desired-heading-rate" title="Permalink to this headline">¶</a></h2>
<p>Desired Heading Rate speed reference value for the control layer.</p>
<ul class="simple">
<li>Abbreviation: DesiredHeadingRate</li>
<li>Identification Number: 408</li>
<li>Payload Size: 8 bytes</li>
<li>Message Size: 30 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="12%" />
<col width="8%" />
<col width="7%" />
<col width="51%" />
<col width="17%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Value</td>
<td>value</td>
<td><em>rad/s</em></td>
<td>fp64_t</td>
<td>The value of the desired heading rate speed in radians per
second.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="desired-velocity">
<span id="desiredvelocity"></span><h2>Desired Velocity<a class="headerlink" href="#desired-velocity" title="Permalink to this headline">¶</a></h2>
<p>Desired value for each linear and angular speeds.</p>
<ul class="simple">
<li>Abbreviation: DesiredVelocity</li>
<li>Identification Number: 409</li>
<li>Payload Size: 49 bytes</li>
<li>Message Size: 71 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="19%" />
<col width="9%" />
<col width="26%" />
<col width="6%" />
<col width="28%" />
<col width="13%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Desired Linear Speed in xx</td>
<td>u</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Desired speed along the vehicle’s x axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Desired Linear Speed in yy</td>
<td>v</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Desired speed along the vehicle’s y axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Desired Linear Speed in zz</td>
<td>w</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Desired speed along the vehicle’s z axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Desired Angular Speed in xx</td>
<td>p</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Desired speed about the vehicle’s x axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Desired Angular Speed in yy</td>
<td>q</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Desired speed about the vehicle’s y axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Desired Angular Speed in zz</td>
<td>r</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Desired speed about the vehicle’s z axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Flags</td>
<td>flags</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#desiredvelocity-bitfield-flags"><span class="std std-ref">Bitfield Flags</span></a>)</td>
<td>uint8_t</td>
<td>Desired Velocity flags.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="desiredvelocity-bitfield-prefix-fl">
<span id="desiredvelocity-bitfield-flags"></span><span id="id2"></span><h3>Bitfield Flags<a class="headerlink" href="#desiredvelocity-bitfield-prefix-fl" title="Permalink to this headline">¶</a></h3>
<p>Desired Velocity flags.</p>
<ul class="simple">
<li>Abbreviation: flags</li>
<li>Prefix: FL</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="27%" />
<col width="15%" />
<col width="51%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0x01</td>
<td>Value of u is meaningful</td>
<td>SURGE</td>
<td>If enabled then field u has a meaningful value.</td>
</tr>
<tr class="row-odd"><td>0x02</td>
<td>Value of v is meaningful</td>
<td>SWAY</td>
<td>If enabled then field u has a meaningful value.</td>
</tr>
<tr class="row-even"><td>0x04</td>
<td>Value of w is meaningful</td>
<td>HEAVE</td>
<td>If enabled then field w has a meaningful value.</td>
</tr>
<tr class="row-odd"><td>0x08</td>
<td>Value of p is meaningful</td>
<td>ROLL</td>
<td>If enabled then field p has a meaningful value.</td>
</tr>
<tr class="row-even"><td>0x10</td>
<td>Value of q is meaningful</td>
<td>PITCH</td>
<td>If enabled then field q has a meaningful value.</td>
</tr>
<tr class="row-odd"><td>0x20</td>
<td>Value of r is meaningful</td>
<td>YAW</td>
<td>If enabled then field r has a meaningful value.</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="path-control-state">
<span id="pathcontrolstate"></span><h2>Path Control State<a class="headerlink" href="#path-control-state" title="Permalink to this headline">¶</a></h2>
<p>Path control state issued by Path Controller.</p>
<ul class="simple">
<li>Abbreviation: PathControlState</li>
<li>Identification Number: 410</li>
<li>Payload Size: 81 bytes</li>
<li>Message Size: 103 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="7%" />
<col width="21%" />
<col width="5%" />
<col width="37%" />
<col width="13%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Path Reference</td>
<td>path_ref</td>
<td><em>-</em></td>
<td>uint32_t</td>
<td>Unsigned integer reference of the desired path message to which this
PathControlState message refers to.
Path reference should only be set by a maneuver, not by path controllers.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Start Point – Latitude WGS-84</td>
<td>start_lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 latitude of start point.</td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-even"><td>Start Point – WGS-84 Longitude</td>
<td>start_lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 longitude of start point.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>Start Point – Z Reference</td>
<td>start_z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Altitude or depth of start point. This parameter will be
ignored if the ‘NO_Z’ flag is set, or if the ‘START’ flag is
not set.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Start Point – Z Units</td>
<td>start_z_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-zunits"><span class="std std-ref">Enum Z Units</span></a>)</td>
<td>uint8_t</td>
<td>Units of the start point’s z reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>End Point – Latitude WGS-84</td>
<td>end_lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 latitude of end point.</td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-even"><td>End Point – WGS-84 Longitude</td>
<td>end_lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 longitude of end point.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>End Point – Z Reference</td>
<td>end_z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Depth or altitude for the end point. This parameter should be
ignored if the ‘NO_Z’ flag is set.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>End Point – Z Units</td>
<td>end_z_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-zunits"><span class="std std-ref">Enum Z Units</span></a>)</td>
<td>uint8_t</td>
<td>Units of the end point’s z reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Loiter – Radius</td>
<td>lradius</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Radius for loitering at end point.
Will be 0 if no loitering is active.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Flags</td>
<td>flags</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#pathcontrolstate-bitfield-flags"><span class="std std-ref">Bitfield Flags</span></a>)</td>
<td>uint8_t</td>
<td>Path control state flags.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Along Track Position</td>
<td>x</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Along-Track position value.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Cross Track Position</td>
<td>y</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Cross-Track position value.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Vertical Track Position</td>
<td>z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Vertical-Track position value.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Along Track Velocity</td>
<td>vx</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Along-Track velocity value.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Cross Track Velocity</td>
<td>vy</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Cross-Track velocity value.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Vertical Track Velocity</td>
<td>vz</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Vertical-Track velocity value.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Course Error</td>
<td>course_error</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>Course error value.</td>
<td>Same as field type</td>
</tr>