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Message Format.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>Message Format — IMC v5.4.11 Specification</title>
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<body>
<div class="document">
<div class="documentwrapper">
<div class="bodywrapper">
<div class="body">
<div class="section" id="message-format">
<h1>Message Format<a class="headerlink" href="#message-format" title="Permalink to this headline">¶</a></h1>
<div class="section" id="field-types">
<h2>Field types<a class="headerlink" href="#field-types" title="Permalink to this headline">¶</a></h2>
<p>Messages and packets can be viewed as a finite collection of
fields. The list of valid field types is presented below.</p>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="7%" />
<col width="77%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Size</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>int8_t</td>
<td>1</td>
<td>8 bit signed integer.</td>
</tr>
<tr class="row-odd"><td>uint8_t</td>
<td>1</td>
<td>8 bit unsigned integer.</td>
</tr>
<tr class="row-even"><td>int16_t</td>
<td>2</td>
<td>16 bit signed integer.</td>
</tr>
<tr class="row-odd"><td>uint16_t</td>
<td>2</td>
<td>16 bit unsigned integer.</td>
</tr>
<tr class="row-even"><td>int32_t</td>
<td>4</td>
<td>32 bit signed integer.</td>
</tr>
<tr class="row-odd"><td>uint32_t</td>
<td>4</td>
<td>32 bit unsigned integer.</td>
</tr>
<tr class="row-even"><td>int64_t</td>
<td>8</td>
<td>A 64 bit signed integer</td>
</tr>
<tr class="row-odd"><td>fp32_t</td>
<td>4</td>
<td>32 bit single precision floating point number in IEEE 754 format.</td>
</tr>
<tr class="row-even"><td>fp64_t</td>
<td>8</td>
<td>64 bit double precision floating point number in IEEE 754 format.</td>
</tr>
<tr class="row-odd"><td>rawdata</td>
<td>n/a</td>
<td>Variable length byte stream.</td>
</tr>
<tr class="row-even"><td>plaintext</td>
<td>n/a</td>
<td>Variable length ASCII character stream.</td>
</tr>
<tr class="row-odd"><td>message</td>
<td>n/a</td>
<td>An inline message. Useful for encapsulating other messages.</td>
</tr>
<tr class="row-even"><td>message-list</td>
<td>n/a</td>
<td>A list of messages.</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="serialization">
<h2>Serialization<a class="headerlink" href="#serialization" title="Permalink to this headline">¶</a></h2>
<p>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.</p>
<table border="1" class="docutils">
<colgroup>
<col width="18%" />
<col width="82%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Serialization</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>rawdata</td>
<td>A sequence of type <em>rawdata</em> is serialized by prepending a
value of type <em>uint16_t</em>, 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 <em>rawdata</em> type length is limited only by the
communication protocol in use.</td>
</tr>
<tr class="row-odd"><td>plaintext</td>
<td>A sequence of type <em>plaintext</em> is serialized by prepending a
value of type <em>uint16_t</em>, 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 <em>plaintext</em> type
length is limited only by the communication protocol in use.</td>
</tr>
<tr class="row-even"><td>message</td>
<td>A field of type <em>message</em> is serialized by prepending a value
of type <em>uint16_t</em>, 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
<em>message</em> type length is limited only by the communication
protocol in use.</td>
</tr>
<tr class="row-odd"><td>message-list</td>
<td>A field of type <em>message-list</em> is serialized by prepending a
value of type <em>uint16_t</em>, 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</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="header">
<h2>Header<a class="headerlink" href="#header" title="Permalink to this headline">¶</a></h2>
<p>The packet header contains handling information in the form of
supplemental fields, it is always placed at the beginning of a
packet.</p>
<ul class="simple">
<li>Size: 20 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="26%" />
<col width="8%" />
<col width="11%" />
<col width="54%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Type</th>
<th class="head">Fixed Value</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Synchronization Number
(<em>sync</em>)</td>
<td>uint16_t</td>
<td>0xFE54</td>
<td><p class="first">The synchronization number marks the beginning of a packet.</p>
<p>It denotes the packet API version and can be used to deduce
the byte order of the sending host.</p>
<p>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.</p>
<p class="last">The packet recipient is responsible for the correct
interpretation of the synchronization number and byte order
conversions.</p>
</td>
</tr>
<tr class="row-odd"><td>Message Identification Number
(<em>mgid</em>)</td>
<td>uint16_t</td>
<td><em>-</em></td>
<td>The identification number of the message contained in the
packet. This field is used for correct message interpretation
and deserialization.</td>
</tr>
<tr class="row-even"><td>Message size
(<em>size</em>)</td>
<td>uint16_t</td>
<td><em>-</em></td>
<td>The size of the message data in the packet.</td>
</tr>
<tr class="row-odd"><td>Time stamp
(<em>timestamp</em>)</td>
<td>fp64_t</td>
<td><em>-</em></td>
<td>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.</td>
</tr>
<tr class="row-even"><td>Source Address
(<em>src</em>)</td>
<td>uint16_t</td>
<td><em>-</em></td>
<td>The Source IMC system ID.</td>
</tr>
<tr class="row-odd"><td>Source Entity
(<em>src_ent</em>)</td>
<td>uint8_t</td>
<td><em>-</em></td>
<td>The entity generating this message at the source address.</td>
</tr>
<tr class="row-even"><td>Destination Address
(<em>dst</em>)</td>
<td>uint16_t</td>
<td><em>-</em></td>
<td>The Destination IMC system ID.</td>
</tr>
<tr class="row-odd"><td>Destination Entity
(<em>dst_ent</em>)</td>
<td>uint8_t</td>
<td><em>-</em></td>
<td>The entity that should process this message at the destination
address.</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="footer">
<h2>Footer<a class="headerlink" href="#footer" title="Permalink to this headline">¶</a></h2>
<p>The packet footer contains validation information in the form of
supplemental fields, it is always placed at the end of a packet.</p>
<ul class="simple">
<li>Size: 2 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="22%" />
<col width="9%" />
<col width="12%" />
<col width="56%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Type</th>
<th class="head">Fixed Value</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Check Sum (CRC-16-IBM)
(<em>crc16</em>)</td>
<td>uint16_t</td>
<td><em>-</em></td>
<td>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.</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="flags">
<h2>Flags<a class="headerlink" href="#flags" title="Permalink to this headline">¶</a></h2>
<table border="1" class="docutils">
<colgroup>
<col width="31%" />
<col width="36%" />
<col width="33%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><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>Periodic</td>
<td>periodic</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>Deprecated</td>
<td>deprecated</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="reference-of-units">
<h2>Reference of Units<a class="headerlink" href="#reference-of-units" title="Permalink to this headline">¶</a></h2>
<p>The following table lists the units used in the subsequent
chapters.</p>
<table border="1" class="docutils">
<colgroup>
<col width="12%" />
<col width="30%" />
<col width="58%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Abbreviation</th>
<th class="head">Name</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>A</td>
<td>Ampere</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>bit</td>
<td>Bit</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>bps</td>
<td>Bits per second</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>byte</td>
<td>Byte</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>g</td>
<td>Gravity acceleration</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>cm</td>
<td>Centimeter</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>cm/s</td>
<td>Centimeter per second</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>dm</td>
<td>Decimeter</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>dB</td>
<td>Decibel</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>dB/m</td>
<td>Decibel per meter</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>dBHz</td>
<td>Decibel hertz</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>dBm</td>
<td>Decibel milliwatts.</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>°</td>
<td>Degree</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>°C</td>
<td>Degree Celsius</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>G</td>
<td>Gauss</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>hPa</td>
<td>Hectopascal</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>Hz</td>
<td>Hertz</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>kg/m/m/m</td>
<td>Kilogram per cubic metre</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>MiB</td>
<td>Mebibyte</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>m</td>
<td>Meter</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>m/s</td>
<td>Meter per second</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>m/s/s</td>
<td>Meter per square second</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>ms</td>
<td>Millisecond</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>µs</td>
<td>Microsecond</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>ns</td>
<td>Nanosecond</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>S/m</td>
<td>Siemens per meter</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>kg</td>
<td>Kilogram</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>Nm</td>
<td>Newton meter</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>NTU</td>
<td>Nephelometric Turbidity Unit</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>N</td>
<td>Newton</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>Pa</td>
<td>Pascal</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>%</td>
<td>Percent</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>PPM</td>
<td>Parts per million</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>PPB</td>
<td>Parts per billion</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>1/m</td>
<td>Inverse Meter</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>px</td>
<td>Pixel</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>µg/L</td>
<td>Microgram per liter</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>µM</td>
<td>Micromolar</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>rad</td>
<td>Radian</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>rad/s</td>
<td>Radian per second</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>rpm</td>
<td>Revolutions per minute</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>rpm/s</td>
<td>Revolutions per minute per second</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>s</td>
<td>Second</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>V</td>
<td>Volt</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>Enumerated</td>
<td>Enumeration of integer values</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>List</td>
<td>Comma separated list of values</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>Bitfield</td>
<td>Bit field</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>TupleList</td>
<td>List of key/value tuples</td>
<td>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”.</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="reference-of-global-enumerations">
<h2>Reference of Global Enumerations<a class="headerlink" href="#reference-of-global-enumerations" title="Permalink to this headline">¶</a></h2>
<div class="section" id="enum-boolean-value">
<span id="enum-prefix-bool"></span><span id="enum-boolean"></span><h3>Enum Boolean Value<a class="headerlink" href="#enum-boolean-value" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: Boolean</li>
<li>Prefix: BOOL</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="17%" />
<col width="17%" />
<col width="34%" />
<col width="32%" />
</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>0</td>
<td>False</td>
<td>FALSE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>True</td>
<td>TRUE</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="enum-controlled-mode">
<span id="enum-prefix-ctlmd"></span><span id="enum-controlledmode"></span><h3>Enum Controlled Mode<a class="headerlink" href="#enum-controlled-mode" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: ControlledMode</li>
<li>Prefix: CTLMD</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="9%" />
<col width="41%" />
<col width="32%" />
<col width="18%" />
</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>0</td>
<td>Relinquish / Handoff Control</td>
<td>RELINQUISH_HANDOFF_CTL</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Request Control</td>
<td>REQUEST_CTL</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Override Control</td>
<td>OVERRIDE_CTL</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="enum-speed-units">
<span id="enum-prefix-sunits"></span><span id="enum-speedunits"></span><h3>Enum Speed Units<a class="headerlink" href="#enum-speed-units" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: SpeedUnits</li>
<li>Prefix: SUNITS</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="36%" />
<col width="26%" />
<col width="25%" />
</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>0</td>
<td>Meters per second</td>
<td>METERS_PS</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>RPM</td>
<td>RPM</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Percentage</td>
<td>PERCENTAGE</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="enum-system-type">
<span id="enum-prefix-systemtype"></span><span id="enum-systemtype"></span><h3>Enum System Type<a class="headerlink" href="#enum-system-type" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: SystemType</li>
<li>Prefix: SYSTEMTYPE</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="12%" />
<col width="42%" />
<col width="24%" />
<col width="22%" />
</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>0</td>
<td>CCU</td>
<td>CCU</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Human-portable Sensor</td>
<td>HUMANSENSOR</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>UUV</td>
<td>UUV</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>USV</td>
<td>USV</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>4</td>
<td>UAV</td>
<td>UAV</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>5</td>
<td>UGV</td>
<td>UGV</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>6</td>
<td>Static sensor</td>
<td>STATICSENSOR</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>7</td>
<td>Mobile sensor</td>
<td>MOBILESENSOR</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>8</td>
<td>Wireless Sensor Network</td>
<td>WSN</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="enum-z-units">
<span id="enum-prefix-z"></span><span id="enum-zunits"></span><h3>Enum Z Units<a class="headerlink" href="#enum-z-units" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: ZUnits</li>
<li>Prefix: Z</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="23%" />
<col width="32%" />
<col width="30%" />
</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>0</td>
<td>None</td>
<td>NONE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Depth</td>
<td>DEPTH</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Altitude</td>
<td>ALTITUDE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Height</td>
<td>HEIGHT</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="enum-rssi-units">
<span id="enum-prefix-rssiunits"></span><span id="enum-rssiunits"></span><h3>Enum RSSI Units<a class="headerlink" href="#enum-rssi-units" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: RSSIUnits</li>
<li>Prefix: RSSIUNITS</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="15%" />
<col width="26%" />
<col width="30%" />
<col width="28%" />
</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>0</td>
<td>Decibel</td>
<td>dB</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Percentage</td>
<td>PERCENTAGE</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="enum-uav-type">
<span id="enum-prefix-uavtype"></span><span id="enum-uavtype"></span><h3>Enum UAV Type<a class="headerlink" href="#enum-uav-type" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: UAVType</li>
<li>Prefix: UAVTYPE</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="15%" />
<col width="26%" />
<col width="30%" />
<col width="28%" />
</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>0</td>
<td>Fixed-Wing</td>
<td>FIXEDWING</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Copter</td>
<td>COPTER</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Vtol</td>
<td>VTOL</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="reference-of-global-bitfields">
<h2>Reference of Global Bitfields<a class="headerlink" href="#reference-of-global-bitfields" title="Permalink to this headline">¶</a></h2>
<div class="section" id="bitfield-control-loops-mask">
<span id="bitfield-prefix-cl"></span><span id="bitfield-cloopsmask"></span><h3>Bitfield Control Loops Mask<a class="headerlink" href="#bitfield-control-loops-mask" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: CLoopsMask</li>
<li>Prefix: CL</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="17%" />
<col width="43%" />
<col width="21%" />
<col width="19%" />
</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>0x00000000</td>
<td>None</td>
<td>NONE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x00000001</td>
<td>Path Control</td>
<td>PATH</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>0x00000002</td>
<td>Teleoperation Control</td>
<td>TELEOPERATION</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x00000004</td>
<td>Altitude Control</td>
<td>ALTITUDE</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>0x00000008</td>
<td>Depth Control</td>
<td>DEPTH</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x00000010</td>
<td>Roll Control</td>
<td>ROLL</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>0x00000020</td>
<td>Pitch Control</td>
<td>PITCH</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x00000040</td>
<td>Yaw Control</td>
<td>YAW</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>0x00000080</td>
<td>Speed Control</td>
<td>SPEED</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x00000100</td>
<td>Yaw Rate Control</td>
<td>YAW_RATE</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>0x00000200</td>
<td>Vertical Rate Control</td>
<td>VERTICAL_RATE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x00000400</td>
<td>Torque Control</td>
<td>TORQUE</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>0x00000800</td>
<td>Force Control</td>
<td>FORCE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x00001000</td>
<td>Velocity Control</td>
<td>VELOCITY</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>0x00002000</td>
<td>Throttle Control</td>
<td>THROTTLE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x40000000</td>
<td>Unspecified External Control</td>
<td>EXTERNAL</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>0x80000000</td>
<td>Non-overridable control</td>
<td>NO_OVERRIDE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0xFFFFFFFF</td>
<td>All</td>
<td>ALL</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="bitfield-operational-limits-mask">
<span id="bitfield-prefix-opl"></span><span id="bitfield-oplimitsmask"></span><h3>Bitfield Operational Limits Mask<a class="headerlink" href="#bitfield-operational-limits-mask" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: OpLimitsMask</li>
<li>Prefix: OPL</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="12%" />
<col width="40%" />
<col width="25%" />
<col width="23%" />
</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>Maximum Depth</td>
<td>MAX_DEPTH</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x02</td>
<td>Minimum Altitude</td>
<td>MIN_ALT</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>0x04</td>
<td>Maximum Altitude</td>
<td>MAX_ALT</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x08</td>
<td>Minimum Speed</td>
<td>MIN_SPEED</td>
<td><em>-</em></td>