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Vehicle Supervision.html
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Vehicle Supervision.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>Vehicle Supervision Messages — IMC v5.4.11 Specification</title>
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<div class="document">
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<div class="body">
<div class="section" id="vehicle-supervision-messages">
<h1>Vehicle Supervision Messages<a class="headerlink" href="#vehicle-supervision-messages" title="Permalink to this headline">¶</a></h1>
<div class="section" id="vehicle-state">
<span id="vehiclestate"></span><h2>Vehicle State<a class="headerlink" href="#vehicle-state" title="Permalink to this headline">¶</a></h2>
<p>This message summarizes the overall state of the vehicle. It can
contains information regarding:</p>
<ul class="simple">
<li>The overall operation mode.</li>
<li>Any error conditions.</li>
<li>Current maneuver execution.</li>
<li>Active control loops.</li>
<li>Abbreviation: VehicleState</li>
<li>Identification Number: 500</li>
<li>Payload Size: 31+ bytes</li>
<li>Message Size: 53+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="15%" />
<col width="10%" />
<col width="22%" />
<col width="6%" />
<col width="36%" />
<col width="11%" />
</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>Operation Mode</td>
<td>op_mode</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#vehiclestate-enum-op-mode"><span class="std std-ref">Enum Operation Mode</span></a>)</td>
<td>uint8_t</td>
<td>The overall operation mode.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Errors – Count</td>
<td>error_count</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>Error count for monitored entitites.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Errors – Entities</td>
<td>error_ents</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The monitored entities with error conditions. This is a comma
separated list of entity names.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Maneuver – Type</td>
<td>maneuver_type</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td>Type of maneuver being executed, when in MANEUVER mode. The
value is the IMC serialization ID of the corresponding
maneuver.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Maneuver – Start Time</td>
<td>maneuver_stime</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>Start time of maneuver being executed (Epoch time), when in
MANEUVER mode.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Maneuver – ETA</td>
<td>maneuver_eta</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>Estimated time for maneuver completion. The value will be
65535 if the time is unknown or undefined.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Control Loops</td>
<td>control_loops</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="Message Format.html#bitfield-cloopsmask"><span class="std std-ref">Bitfield Control Loops Mask</span></a>)</td>
<td>uint32_t</td>
<td>Enabled control loops.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Flags</td>
<td>flags</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#vehiclestate-bitfield-flags"><span class="std std-ref">Bitfield Flags</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Last Error – Description</td>
<td>last_error</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Description of last error.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Last Error – Time</td>
<td>last_error_time</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>Time of last error (Epoch time).</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-operation-mode">
<span id="vehiclestate-enum-prefix-vs"></span><span id="vehiclestate-enum-op-mode"></span><h3>Enum Operation Mode<a class="headerlink" href="#enum-operation-mode" title="Permalink to this headline">¶</a></h3>
<p>The overall operation mode.</p>
<ul class="simple">
<li>Abbreviation: op_mode</li>
<li>Prefix: VS</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="10%" />
<col width="26%" />
<col width="20%" />
<col width="43%" />
</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>Service</td>
<td>SERVICE</td>
<td>Ready to service requests.</td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Calibration</td>
<td>CALIBRATION</td>
<td>Ongoing vehicle calibration.</td>
</tr>
<tr class="row-even"><td>2</td>
<td>Error</td>
<td>ERROR</td>
<td>Errors are set.</td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Maneuver</td>
<td>MANEUVER</td>
<td>A maneuver is executing.</td>
</tr>
<tr class="row-even"><td>4</td>
<td>External Control</td>
<td>EXTERNAL</td>
<td>External control is active.</td>
</tr>
<tr class="row-odd"><td>5</td>
<td>Boot</td>
<td>BOOT</td>
<td>Booting system.</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="bitfield-flags">
<span id="vehiclestate-bitfield-prefix-vflg"></span><span id="vehiclestate-bitfield-flags"></span><h3>Bitfield Flags<a class="headerlink" href="#bitfield-flags" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: flags</li>
<li>Prefix: VFLG</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="14%" />
<col width="30%" />
<col width="30%" />
<col width="26%" />
</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>Maneuver Done</td>
<td>MANEUVER_DONE</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="vehicle-command">
<span id="vehiclecommand"></span><h2>Vehicle Command<a class="headerlink" href="#vehicle-command" title="Permalink to this headline">¶</a></h2>
<p>Vehicle command.</p>
<ul class="simple">
<li>Abbreviation: VehicleCommand</li>
<li>Identification Number: 501</li>
<li>Payload Size: 10+ bytes</li>
<li>Message Size: 32+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="11%" />
<col width="9%" />
<col width="23%" />
<col width="12%" />
<col width="34%" />
<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>Type</td>
<td>type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#vehiclecommand-enum-type"><span class="std std-ref">Enum Type</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Request ID</td>
<td>request_id</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td>Request ID</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Command</td>
<td>command</td>
<td><em>Enumerated</em>
(<span class="xref std std-ref">VehicleCommand-enum-command</span>)</td>
<td>uint8_t</td>
<td>The type of command/action to be performed</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Maneuver</td>
<td>maneuver</td>
<td><em>-</em></td>
<td>message
(<a class="reference internal" href="Message Format.html#maneuver"><span class="std std-ref">Message-Group Maneuver</span></a>)</td>
<td>Maneuver to be executed (for ‘EXEC_MANEUVER’ command)</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Calibration Time</td>
<td>calib_time</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>Amount of time to calibrate</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Info</td>
<td>info</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Complementary human-readable information for replies.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-type">
<span id="vehiclecommand-enum-prefix-vc"></span><span id="vehiclecommand-enum-type"></span><h3>Enum Type<a class="headerlink" href="#enum-type" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: type</li>
<li>Prefix: VC</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>0</td>
<td>Request</td>
<td>REQUEST</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Reply – Success</td>
<td>SUCCESS</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Reply – In Progress</td>
<td>IN_PROGRESS</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Reply – Failure</td>
<td>FAILURE</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="enum-command">
<span id="id1"></span><h3>Enum Command<a class="headerlink" href="#enum-command" title="Permalink to this headline">¶</a></h3>
<p>The type of command/action to be performed</p>
<ul class="simple">
<li>Abbreviation: command</li>
<li>Prefix: VC</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="19%" />
<col width="19%" />
<col width="54%" />
</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>Execute Maneuver</td>
<td>EXEC_MANEUVER</td>
<td>Execute the maneuver specified in ‘maneuver’ field.</td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Stop Maneuver</td>
<td>STOP_MANEUVER</td>
<td>Stop ‘maneuver’ being executed.</td>
</tr>
<tr class="row-even"><td>2</td>
<td>Start Calibration</td>
<td>START_CALIBRATION</td>
<td>Start calibrating vehicle.</td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Stop Calibration</td>
<td>STOP_CALIBRATION</td>
<td>Stop calibrating vehicle.</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="monitor-entity-state">
<span id="monitorentitystate"></span><h2>Monitor Entity State<a class="headerlink" href="#monitor-entity-state" title="Permalink to this headline">¶</a></h2>
<p>Controls monitoring of entity states in the vehicle.</p>
<ul class="simple">
<li>Abbreviation: MonitorEntityState</li>
<li>Identification Number: 502</li>
<li>Payload Size: 3+ bytes</li>
<li>Message Size: 25+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="10%" />
<col width="10%" />
<col width="30%" />
<col width="8%" />
<col width="28%" />
<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>Command</td>
<td>command</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#monitorentitystate-enum-command"><span class="std std-ref">Enum Command</span></a>)</td>
<td>uint8_t</td>
<td>Command.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Entity Names</td>
<td>entities</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Comma separated list of entity names.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="monitorentitystate-enum-prefix-mes">
<span id="monitorentitystate-enum-command"></span><span id="id2"></span><h3>Enum Command<a class="headerlink" href="#monitorentitystate-enum-prefix-mes" title="Permalink to this headline">¶</a></h3>
<p>Command.</p>
<ul class="simple">
<li>Abbreviation: command</li>
<li>Prefix: MES</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="8%" />
<col width="58%" />
<col width="20%" />
<col width="14%" />
</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>Reset to defaults</td>
<td>RESET</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Enable Monitoring</td>
<td>ENABLE</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Disable Monitoring</td>
<td>DISABLE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Enable Monitoring (exclusive - disables all others)</td>
<td>ENABLE_EXCLUSIVE</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>4</td>
<td>Status Report</td>
<td>STATUS</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="entity-monitoring-state">
<span id="entitymonitoringstate"></span><h2>Entity Monitoring State<a class="headerlink" href="#entity-monitoring-state" title="Permalink to this headline">¶</a></h2>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: EntityMonitoringState</li>
<li>Identification Number: 503</li>
<li>Payload Size: 19+ bytes</li>
<li>Message Size: 41+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="25%" />
<col width="11%" />
<col width="4%" />
<col width="7%" />
<col width="41%" />
<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>Entities monitored - Count</td>
<td>mcount</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>Number of entitities being monitored.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Entities monitored - Names</td>
<td>mnames</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Comma separated list of all entity names being monitored.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Entities with errors - Count</td>
<td>ecount</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>Number of entitities with non-critical errors.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Entities with errors - Names</td>
<td>enames</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Comma separated list of all entity names with non-critical
errors.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Entities with critical errors - Count</td>
<td>ccount</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>Number of entitities with critical errors.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Entities with critical errors - Names</td>
<td>cnames</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Comma separated list of all entity names with critical errors.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Last Error – Description</td>
<td>last_error</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Description of last error.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Last Error – Time</td>
<td>last_error_time</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>Time of last error (Epoch time).</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="operational-limits">
<span id="operationallimits"></span><h2>Operational Limits<a class="headerlink" href="#operational-limits" title="Permalink to this headline">¶</a></h2>
<p>Definition of operational limits.</p>
<ul class="simple">
<li>Abbreviation: OperationalLimits</li>
<li>Identification Number: 504</li>
<li>Payload Size: 53 bytes</li>
<li>Message Size: 75 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="22%" />
<col width="12%" />
<col width="27%" />
<col width="8%" />
<col width="11%" />
<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>Field Indicator Mask</td>
<td>mask</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="Message Format.html#bitfield-oplimitsmask"><span class="std std-ref">Bitfield Operational Limits Mask</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Maximum Depth</td>
<td>max_depth</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td> </td>
<td>min=0</td>
</tr>
<tr class="row-even"><td>Minimum Altitude</td>
<td>min_altitude</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td> </td>
<td>min=0</td>
</tr>
<tr class="row-odd"><td>Maximum Altitude</td>
<td>max_altitude</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td> </td>
<td>min=0</td>
</tr>
<tr class="row-even"><td>Minimum Speed</td>
<td>min_speed</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td> </td>
<td>min=0</td>
</tr>
<tr class="row-odd"><td>Maximum Speed</td>
<td>max_speed</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td> </td>
<td>min=0</td>
</tr>
<tr class="row-even"><td>Maximum Vertical Rate</td>
<td>max_vrate</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td> </td>
<td>min=0</td>
</tr>
<tr class="row-odd"><td>Area – WGS-84 Latitude</td>
<td>lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td> </td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-even"><td>Area – WGS-84 Longitude</td>
<td>lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td> </td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>Area – Orientation</td>
<td>orientation</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Area – Width</td>
<td>width</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Area – Length</td>
<td>length</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="get-operational-limits">
<span id="getoperationallimits"></span><h2>Get Operational Limits<a class="headerlink" href="#get-operational-limits" title="Permalink to this headline">¶</a></h2>
<p>Command to obtain the operational limits in use by the vehicle.</p>
<ul class="simple">
<li>Abbreviation: GetOperationalLimits</li>
<li>Identification Number: 505</li>
<li>Payload Size: 0 bytes</li>
<li>Message Size: 22 bytes</li>
</ul>
<p>This message has no fields.</p>
</div>
<div class="section" id="calibration">
<span id="id3"></span><h2>Calibration<a class="headerlink" href="#calibration" title="Permalink to this headline">¶</a></h2>
<p>Initiate overall calibration of a vehicle.</p>
<ul class="simple">
<li>Abbreviation: Calibration</li>
<li>Identification Number: 506</li>
<li>Payload Size: 2 bytes</li>
<li>Message Size: 24 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="12%" />
<col width="16%" />
<col width="7%" />
<col width="12%" />
<col width="30%" />
<col width="23%" />
</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>Duration</td>
<td>duration</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>Duration of calibration.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="control-loops">
<span id="controlloops"></span><h2>Control Loops<a class="headerlink" href="#control-loops" title="Permalink to this headline">¶</a></h2>
<p>Enable or disable control loops.</p>
<ul class="simple">
<li>Abbreviation: ControlLoops</li>
<li>Identification Number: 507</li>
<li>Payload Size: 9 bytes</li>
<li>Message Size: 31 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="12%" />
<col width="7%" />
<col width="18%" />
<col width="5%" />
<col width="47%" />
<col width="10%" />
</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>Enable</td>
<td>enable</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#controlloops-enum-enable"><span class="std std-ref">Enum Enable</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Control Loop Mask</td>
<td>mask</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="Message Format.html#bitfield-cloopsmask"><span class="std std-ref">Bitfield Control Loops Mask</span></a>)</td>
<td>uint32_t</td>
<td>Control loop mask.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Scope Time Reference</td>
<td>scope_ref</td>
<td><em>-</em></td>
<td>uint32_t</td>
<td>Unsigned integer reference for the scope of the control loop message.
Scope 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 controllers must inherit the same scope reference sent by maneuver.
This same scope reference must be sent down to lower control layers.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-enable">
<span id="controlloops-enum-prefix-cl"></span><span id="controlloops-enum-enable"></span><h3>Enum Enable<a class="headerlink" href="#enum-enable" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: enable</li>
<li>Prefix: CL</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="21%" />
<col width="33%" />
<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>Disable</td>
<td>DISABLE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Enable</td>
<td>ENABLE</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="vehicle-medium">
<span id="vehiclemedium"></span><h2>Vehicle Medium<a class="headerlink" href="#vehicle-medium" title="Permalink to this headline">¶</a></h2>
<p>Detect current vehicle medium.</p>
<ul class="simple">
<li>Abbreviation: VehicleMedium</li>
<li>Identification Number: 508</li>
<li>Payload Size: 1 bytes</li>
<li>Message Size: 23 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="8%" />
<col width="13%" />
<col width="35%" />
<col width="9%" />
<col width="16%" />
<col width="19%" />
</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>Medium</td>
<td>medium</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#vehiclemedium-enum-medium"><span class="std std-ref">Enum Medium</span></a>)</td>
<td>uint8_t</td>
<td>Current medium.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-medium">
<span id="vehiclemedium-enum-prefix-vm"></span><span id="vehiclemedium-enum-medium"></span><h3>Enum Medium<a class="headerlink" href="#enum-medium" title="Permalink to this headline">¶</a></h3>
<p>Current medium.</p>
<ul class="simple">
<li>Abbreviation: medium</li>
<li>Prefix: VM</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="11%" />
<col width="19%" />
<col width="23%" />
<col width="47%" />
</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>Ground</td>
<td>GROUND</td>
<td>Vehicle is on the ground</td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Air</td>
<td>AIR</td>
<td>Vehicle is airborne</td>
</tr>
<tr class="row-even"><td>2</td>
<td>Water</td>
<td>WATER</td>
<td>Vehicle is at water surface</td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Underwater</td>
<td>UNDERWATER</td>
<td>Vehicle is underwater</td>
</tr>
<tr class="row-even"><td>4</td>
<td>Unknown</td>
<td>UNKNOWN</td>
<td>Vehicle medium is unknown</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="collision">
<span id="id4"></span><h2>Collision<a class="headerlink" href="#collision" title="Permalink to this headline">¶</a></h2>
<p>Detected collision.</p>
<ul class="simple">
<li>Abbreviation: Collision</li>
<li>Identification Number: 509</li>
<li>Payload Size: 5 bytes</li>
<li>Message Size: 27 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="10%" />
<col width="25%" />
<col width="7%" />
<col width="30%" />
<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>Collision value</td>
<td>value</td>
<td><em>m/s/s</em></td>
<td>fp32_t</td>
<td>Estimated collision acceleration value.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Type</td>
<td>type</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#collision-bitfield-type"><span class="std std-ref">Bitfield Type</span></a>)</td>
<td>uint8_t</td>
<td>Collision flags.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="bitfield-type">
<span id="collision-bitfield-prefix-cd"></span><span id="collision-bitfield-type"></span><h3>Bitfield Type<a class="headerlink" href="#bitfield-type" title="Permalink to this headline">¶</a></h3>
<p>Collision flags.</p>
<ul class="simple">
<li>Abbreviation: type</li>
<li>Prefix: CD</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="11%" />
<col width="13%" />
<col width="22%" />
<col width="54%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>