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Sensors.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>Sensors Messages — 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="sensors-messages">
<h1>Sensors Messages<a class="headerlink" href="#sensors-messages" title="Permalink to this headline">¶</a></h1>
<div class="section" id="revolutions-per-minute">
<span id="rpm"></span><h2>Revolutions Per Minute<a class="headerlink" href="#revolutions-per-minute" title="Permalink to this headline">¶</a></h2>
<p>Number of revolutions per minute.</p>
<ul class="simple">
<li>Abbreviation: Rpm</li>
<li>Identification Number: 250</li>
<li>Payload Size: 2 bytes</li>
<li>Message Size: 24 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="8%" />
<col width="15%" />
<col width="8%" />
<col width="10%" />
<col width="38%" />
<col width="22%" />
</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>rpm</em></td>
<td>int16_t</td>
<td>Number of revolutions per minute.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="voltage">
<span id="id1"></span><h2>Voltage<a class="headerlink" href="#voltage" title="Permalink to this headline">¶</a></h2>
<p>Report of electrical voltage.</p>
<ul class="simple">
<li>Abbreviation: Voltage</li>
<li>Identification Number: 251</li>
<li>Payload Size: 4 bytes</li>
<li>Message Size: 26 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="18%" />
<col width="11%" />
<col width="5%" />
<col width="6%" />
<col width="46%" />
<col width="15%" />
</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>Measured Voltage Value</td>
<td>value</td>
<td><em>V</em></td>
<td>fp32_t</td>
<td>The value of the internal electrical voltage as measured by
the sensor.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="current">
<span id="id2"></span><h2>Current<a class="headerlink" href="#current" title="Permalink to this headline">¶</a></h2>
<p>Report of electrical current.</p>
<ul class="simple">
<li>Abbreviation: Current</li>
<li>Identification Number: 252</li>
<li>Payload Size: 4 bytes</li>
<li>Message Size: 26 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="18%" />
<col width="11%" />
<col width="5%" />
<col width="6%" />
<col width="46%" />
<col width="15%" />
</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>Measured Current Value</td>
<td>value</td>
<td><em>A</em></td>
<td>fp32_t</td>
<td>The value of the internal electrical current as measured by
the sensor.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="gps-fix">
<span id="gpsfix"></span><h2>GPS Fix<a class="headerlink" href="#gps-fix" title="Permalink to this headline">¶</a></h2>
<p>Report of a GPS fix.</p>
<ul class="simple">
<li>Abbreviation: GpsFix</li>
<li>Identification Number: 253</li>
<li>Payload Size: 56 bytes</li>
<li>Message Size: 78 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="18%" />
<col width="7%" />
<col width="18%" />
<col width="5%" />
<col width="38%" />
<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>Validity</td>
<td>validity</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#gpsfix-bitfield-validity"><span class="std std-ref">Bitfield Validity</span></a>)</td>
<td>uint16_t</td>
<td>Validity of fields.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Type</td>
<td>type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#gpsfix-enum-type"><span class="std std-ref">Enum Type</span></a>)</td>
<td>uint8_t</td>
<td>Type of fix.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>UTC Year</td>
<td>utc_year</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td>UTC year.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>UTC Month</td>
<td>utc_month</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>UTC month.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>UTC Day</td>
<td>utc_day</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>UTC day.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>UTC Time of Fix</td>
<td>utc_time</td>
<td><em>s</em></td>
<td>fp32_t</td>
<td>UTC time of the GPS fix measured in seconds since 00:00:00 (midnight).</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Latitude WGS-84</td>
<td>lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Latitude coordinate.</td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-odd"><td>Longitude WGS-84</td>
<td>lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Longitude coordinate.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-even"><td>Height above WGS-84 ellipsoid</td>
<td>height</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Height above WGS-84 ellipsoid.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Number of Satellites</td>
<td>satellites</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>Number of satellites used by the GPS device to compute the
solution.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Course Over Ground</td>
<td>cog</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>Course Over Ground (true).</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Speed Over Ground</td>
<td>sog</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Speed Over Ground.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Horizontal Dilution of Precision</td>
<td>hdop</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>Horizontal dilution of precision.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Vertical Dilution of Precision</td>
<td>vdop</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>Vertical dilution of precision.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Horizontal Accuracy Estimate</td>
<td>hacc</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Horizontal Accuracy Estimate.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Vertical Accuracy Estimate</td>
<td>vacc</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Vertical Accuracy Estimate.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="bitfield-validity">
<span id="gpsfix-bitfield-prefix-gfv"></span><span id="gpsfix-bitfield-validity"></span><h3>Bitfield Validity<a class="headerlink" href="#bitfield-validity" title="Permalink to this headline">¶</a></h3>
<p>Validity of fields.</p>
<ul class="simple">
<li>Abbreviation: validity</li>
<li>Prefix: GFV</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="33%" />
<col width="11%" />
<col width="50%" />
</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>0x0001</td>
<td>Valid Date</td>
<td>VALID_DATE</td>
<td>Fields ‘utc_year’, ‘utc_month’ and ‘utc_day’ are valid.</td>
</tr>
<tr class="row-odd"><td>0x0002</td>
<td>Valid Time</td>
<td>VALID_TIME</td>
<td>Field ‘utc_time’ is valid.</td>
</tr>
<tr class="row-even"><td>0x0004</td>
<td>Valid Position</td>
<td>VALID_POS</td>
<td>Fields ‘lat’, ‘lon’, ‘altitude’ and ‘satellites’ are valid.</td>
</tr>
<tr class="row-odd"><td>0x0008</td>
<td>Valid Course Over Ground</td>
<td>VALID_COG</td>
<td>Field ‘cog’ is valid.</td>
</tr>
<tr class="row-even"><td>0x0010</td>
<td>Valid Speed Over Ground</td>
<td>VALID_SOG</td>
<td>Field ‘sog’ is valid.</td>
</tr>
<tr class="row-odd"><td>0x0020</td>
<td>Valid Horizontal Accuracy Estimate</td>
<td>VALID_HACC</td>
<td>Field ‘hacc’ is valid.</td>
</tr>
<tr class="row-even"><td>0x0040</td>
<td>Valid Vertical Accuracy Estimate</td>
<td>VALID_VACC</td>
<td>Field ‘vacc’ is valid.</td>
</tr>
<tr class="row-odd"><td>0x0080</td>
<td>Valid Horizontal Dilution of Precision</td>
<td>VALID_HDOP</td>
<td>Field ‘hdop’ is valid.</td>
</tr>
<tr class="row-even"><td>0x0100</td>
<td>Valid Vertical Dilution of Precision</td>
<td>VALID_VDOP</td>
<td>Field ‘vdop’ is valid.</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="enum-type">
<span id="gpsfix-enum-prefix-gft"></span><span id="gpsfix-enum-type"></span><h3>Enum Type<a class="headerlink" href="#enum-type" title="Permalink to this headline">¶</a></h3>
<p>Type of fix.</p>
<ul class="simple">
<li>Abbreviation: type</li>
<li>Prefix: GFT</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="11%" />
<col width="25%" />
<col width="25%" />
<col width="40%" />
</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>0x00</td>
<td>Stand Alone</td>
<td>STANDALONE</td>
<td>Stand alone solution.</td>
</tr>
<tr class="row-odd"><td>0x01</td>
<td>Differential</td>
<td>DIFFERENTIAL</td>
<td>Differential solution.</td>
</tr>
<tr class="row-even"><td>0x02</td>
<td>Dead Reckoning</td>
<td>DEAD_RECKONING</td>
<td>Dead reckoning solution.</td>
</tr>
<tr class="row-odd"><td>0x03</td>
<td>Manual Input</td>
<td>MANUAL_INPUT</td>
<td>Manual solution.</td>
</tr>
<tr class="row-even"><td>0x04</td>
<td>Simulation</td>
<td>SIMULATION</td>
<td>Simulated solution.</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="euler-angles">
<span id="eulerangles"></span><h2>Euler Angles<a class="headerlink" href="#euler-angles" title="Permalink to this headline">¶</a></h2>
<p>Report of spatial orientation according to SNAME’s notation
(1950).</p>
<ul class="simple">
<li>Abbreviation: EulerAngles</li>
<li>Identification Number: 254</li>
<li>Payload Size: 40 bytes</li>
<li>Message Size: 62 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="10%" />
<col width="5%" />
<col width="6%" />
<col width="46%" />
<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>Device Time</td>
<td>time</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>The device time.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Roll Angle</td>
<td>phi</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>Rotation around the vehicle longitudinal axis.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-even"><td>Pitch Angle</td>
<td>theta</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>Rotation around the vehicle lateral or transverse axis.</td>
<td>min=-1.57079632679490,
max=1.57079632679490</td>
</tr>
<tr class="row-odd"><td>Yaw Angle (True)</td>
<td>psi</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>Rotation around the vehicle vertical axis. A value of 0 means
the vehicle is oriented towards true north. In cases where the
sensor cannot measure the true heading, this field will have
the same value as Yaw (Magnetic).</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-even"><td>Yaw Angle (Magnetic)</td>
<td>psi_magnetic</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>Rotation around the vehicle vertical axis. A value of 0 means
the vehicle is oriented towards magnetic north. In cases where
the sensor cannot measure the magnetic heading, this field
will have the same value as Yaw (True).</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="euler-angles-delta">
<span id="euleranglesdelta"></span><h2>Euler Angles Delta<a class="headerlink" href="#euler-angles-delta" title="Permalink to this headline">¶</a></h2>
<p>Component of incremetal orientation vector over a period of time.</p>
<ul class="simple">
<li>Abbreviation: EulerAnglesDelta</li>
<li>Identification Number: 255</li>
<li>Payload Size: 36 bytes</li>
<li>Message Size: 58 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="11%" />
<col width="12%" />
<col width="6%" />
<col width="7%" />
<col width="47%" />
<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>Device Time</td>
<td>time</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>The device time.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>X</td>
<td>x</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>X component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Y</td>
<td>y</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>Y component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Z</td>
<td>z</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>Z component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Timestep</td>
<td>timestep</td>
<td><em>s</em></td>
<td>fp32_t</td>
<td>Period of time of the orientation vector increments.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="angular-velocity">
<span id="angularvelocity"></span><h2>Angular Velocity<a class="headerlink" href="#angular-velocity" title="Permalink to this headline">¶</a></h2>
<p>Vector quantifying the direction and magnitude of the measured
angular velocity that a device is exposed to.</p>
<ul class="simple">
<li>Abbreviation: AngularVelocity</li>
<li>Identification Number: 256</li>
<li>Payload Size: 32 bytes</li>
<li>Message Size: 54 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="17%" />
<col width="11%" />
<col width="10%" />
<col width="22%" />
<col width="24%" />
</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>Device Time</td>
<td>time</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>The device time.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>X</td>
<td>x</td>
<td><em>rad/s</em></td>
<td>fp64_t</td>
<td>X component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Y</td>
<td>y</td>
<td><em>rad/s</em></td>
<td>fp64_t</td>
<td>Y component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Z</td>
<td>z</td>
<td><em>rad/s</em></td>
<td>fp64_t</td>
<td>Z component.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="acceleration">
<span id="id3"></span><h2>Acceleration<a class="headerlink" href="#acceleration" title="Permalink to this headline">¶</a></h2>
<p>Vector quantifying the direction and magnitude of the measured
acceleration that a device is exposed to.</p>
<ul class="simple">
<li>Abbreviation: Acceleration</li>
<li>Identification Number: 257</li>
<li>Payload Size: 32 bytes</li>
<li>Message Size: 54 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="17%" />
<col width="11%" />
<col width="10%" />
<col width="22%" />
<col width="24%" />
</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>Device Time</td>
<td>time</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>The device time.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>X</td>
<td>x</td>
<td><em>m/s/s</em></td>
<td>fp64_t</td>
<td>X component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Y</td>
<td>y</td>
<td><em>m/s/s</em></td>
<td>fp64_t</td>
<td>Y component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Z</td>
<td>z</td>
<td><em>m/s/s</em></td>
<td>fp64_t</td>
<td>Z component.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="magnetic-field">
<span id="magneticfield"></span><h2>Magnetic Field<a class="headerlink" href="#magnetic-field" title="Permalink to this headline">¶</a></h2>
<p>Vector quantifying the direction and magnitude of the measured
magnetic field that a device is exposed to.</p>
<ul class="simple">
<li>Abbreviation: MagneticField</li>
<li>Identification Number: 258</li>
<li>Payload Size: 32 bytes</li>
<li>Message Size: 54 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="18%" />
<col width="8%" />
<col width="10%" />
<col width="23%" />
<col width="25%" />
</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>Device Time</td>
<td>time</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>The device time.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>X</td>
<td>x</td>
<td><em>G</em></td>
<td>fp64_t</td>
<td>X component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Y</td>
<td>y</td>
<td><em>G</em></td>
<td>fp64_t</td>
<td>Y component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Z</td>
<td>z</td>
<td><em>G</em></td>
<td>fp64_t</td>
<td>Z component.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="ground-velocity">
<span id="groundvelocity"></span><h2>Ground Velocity<a class="headerlink" href="#ground-velocity" title="Permalink to this headline">¶</a></h2>
<p>Vector quantifying the direction and magnitude of the measured
velocity relative to the ground that a device is exposed to.</p>
<ul class="simple">
<li>Abbreviation: GroundVelocity</li>
<li>Identification Number: 259</li>
<li>Payload Size: 25 bytes</li>
<li>Message Size: 47 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="9%" />
<col width="28%" />
<col width="6%" />
<col width="36%" />
<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>Validity</td>
<td>validity</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#groundvelocity-bitfield-validity"><span class="std std-ref">Bitfield Validity</span></a>)</td>
<td>uint8_t</td>
<td>Each bit of this field represents if a given velocity
component is valid.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>X</td>
<td>x</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>X component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Y</td>
<td>y</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Y component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Z</td>
<td>z</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Z component.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="groundvelocity-bitfield-prefix-val">
<span id="groundvelocity-bitfield-validity"></span><span id="id4"></span><h3>Bitfield Validity<a class="headerlink" href="#groundvelocity-bitfield-prefix-val" title="Permalink to this headline">¶</a></h3>
<p>Each bit of this field represents if a given velocity
component is valid.</p>
<ul class="simple">
<li>Abbreviation: validity</li>
<li>Prefix: VAL</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="39%" />
<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>X component is valid</td>
<td>VEL_X</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x02</td>
<td>Y component is valid</td>
<td>VEL_Y</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>0x04</td>
<td>Z component is valid</td>
<td>VEL_Z</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="water-velocity">
<span id="watervelocity"></span><h2>Water Velocity<a class="headerlink" href="#water-velocity" title="Permalink to this headline">¶</a></h2>
<p>Vector quantifying the direction and magnitude of the measured
velocity relative to the water that a device is exposed to.</p>
<ul class="simple">
<li>Abbreviation: WaterVelocity</li>
<li>Identification Number: 260</li>
<li>Payload Size: 25 bytes</li>
<li>Message Size: 47 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="9%" />
<col width="28%" />
<col width="6%" />
<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>Validity</td>
<td>validity</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#watervelocity-bitfield-validity"><span class="std std-ref">Bitfield Validity</span></a>)</td>
<td>uint8_t</td>
<td>Each bit of this field represents if a given velocity
component is valid.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>X</td>
<td>x</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>X component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Y</td>
<td>y</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Y component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Z</td>
<td>z</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Z component.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="watervelocity-bitfield-prefix-val">
<span id="watervelocity-bitfield-validity"></span><span id="id5"></span><h3>Bitfield Validity<a class="headerlink" href="#watervelocity-bitfield-prefix-val" title="Permalink to this headline">¶</a></h3>
<p>Each bit of this field represents if a given velocity
component is valid.</p>
<ul class="simple">
<li>Abbreviation: validity</li>
<li>Prefix: VAL</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="39%" />
<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>X component is valid</td>
<td>VEL_X</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x02</td>
<td>Y component is valid</td>
<td>VEL_Y</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>0x04</td>
<td>Z component is valid</td>
<td>VEL_Z</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="velocity-delta">
<span id="velocitydelta"></span><h2>Velocity Delta<a class="headerlink" href="#velocity-delta" title="Permalink to this headline">¶</a></h2>
<p>Component of incremetal velocity vector.</p>
<ul class="simple">
<li>Abbreviation: VelocityDelta</li>
<li>Identification Number: 261</li>
<li>Payload Size: 32 bytes</li>
<li>Message Size: 54 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="18%" />
<col width="9%" />
<col width="10%" />
<col width="23%" />
<col width="25%" />
</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>Device Time</td>
<td>time</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>The device time.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>X</td>