| Class and Description |
|---|
| Abort
IMC Message Abort (550)
Stops any executing actions and put the system in a standby mode. |
| Acceleration
IMC Message Acceleration (257)
Vector quantifying the direction and magnitude of the measured acceleration that a device is exposed to. |
| AcousticDiagnostic
IMC Message Acoustic Diagnostic (207)
Enable/Disable Acoustic Diagnostic. |
| AcousticMessage
IMC Message Acoustic Message (206)
Send an acoustic message. |
| AcousticNoise
IMC Message Acoustic Noise (208)
Report on the conditions of the underwater medium, for when acoustic diagnostics are enabled. |
| AcousticNoise.SUMMARY |
| AcousticOperation
IMC Message Acoustic Operation (211)
Acoustic operation. |
| AcousticOperation.OP |
| AcousticPing
IMC Message Acoustic Ping (209)
Ping remote modem. |
| AcousticPingReply
IMC Message Acoustic Ping Reply (210)
Acoust Ping Reply. |
| AcousticRange
IMC Message Acoustic Range (204)
Issue an acoustic range command. |
| AcousticRangeReply
IMC Message Acoustic Range Reply (205)
Acoustic range measure in response to a range command. |
| AcousticRangeReply.STATUS |
| AcousticSystems
IMC Message Acoustic Systems (213)
This message is sent in reply to an AcousticSystemsQuery message and lists all known underwater acoustic systems (modems, narrow band transponders, etc). |
| AcousticSystemsQuery
IMC Message Acoustic Systems Query (212)
Request a list of known underwater acoustic systems. |
| AllocatedControlTorques
IMC Message Allocated Control Torques (411)
Control torques allocated to the actuators. |
| AngularVelocity
IMC Message Angular Velocity (256)
Vector quantifying the direction and magnitude of the measured angular velocity that a device is exposed to. |
| Announce
IMC Message Announce (151)
A system description that is to be broadcasted to other systems. |
| Announce.SYS_TYPE |
| AnnounceService
IMC Message Announce Service (152)
Announcement about the existence of a service. |
| BeamConfig
IMC Message Beam Configuration (283)
Beam configuration of the device. |
| Brake
IMC Message Brake (413)
Brake the vehicle in some way, i. |
| Brake.OP |
| ButtonEvent
IMC Message Button Event (306)
Event of a specific hardware button. |
| CacheControl
IMC Message Cache Control (101)
Control caching of messages to persistent storage. |
| CacheControl.OP |
| Calibration
IMC Message Calibration (506)
Initiate overall calibration of a vehicle. |
| CameraZoom
IMC Message Camera Zoom (300)
Camera Zoom. |
| CameraZoom.ACTION |
| CcuEvent
IMC Message CCU Event (606)
This message is used to signal events among running CCUs. |
| CcuEvent.TYPE |
| ClockControl
IMC Message Clock Control (106)
Clock control. |
| ClockControl.OP |
| CloseSession
IMC Message Close Session (807)
Request closing of an ongoing session |
| Collision
IMC Message Collision (509)
Detected collision. |
| CommsRelay
IMC Message Communications Relay (472)
In this maneuver, a vehicle drives to the center of two other systems (a, b) in order to be used as a communications relay. |
| CommsRelay.SPEED_UNITS |
| CompassCalibration
IMC Message Compass Calibration Maneuver (475)
This maneuver is a mix between the Loiter maneuver and the YoYo maneuver. The vehicle cirlcles around a specific waypoint with a variable Z reference between a minimum and maximum value. |
| CompassCalibration.DIRECTION |
| CompassCalibration.SPEED_UNITS |
| CompassCalibration.Z_UNITS |
| CompressedImage
IMC Message Compressed Image (702)
|
| Conductivity
IMC Message Conductivity (269)
Report of conductivity. |
| ControlCommand
IMC Subtype ControlCommand (Control Command)
Messages belonging to this subtype: DesiredZ
DesiredHeading
DesiredRoll
DesiredPitch
DesiredSpeed
DesiredPath
|
| ControlLoops
IMC Message Control Loops (507)
Enable or disable control loops. |
| ControlLoops.ENABLE |
| ControlParcel
IMC Message Control Parcel (412)
Report of PID control parcels. |
| CoverArea
IMC Message Cover Area (473)
Given a polygonal area, generates trajectories to cover the area. |
| CoverArea.SPEED_UNITS |
| CoverArea.Z_UNITS |
| CpuUsage
IMC Message CPU Usage (7)
Report of software CPU usage. |
| CreateSession
IMC Message Create Session (806)
Request creating a new session with this remote peer. |
| Current
IMC Message Current (252)
Report of electrical current. |
| CustomManeuver
IMC Message Custom Maneuver (465)
The Custom Maneuver message may be used as specification of a very specific maneuver not covered by the IMC scope. |
| Depth
IMC Message Depth (265)
Depth report. |
| DepthOffset
IMC Message Depth Offset (266)
Report of Depth Offset. |
| DesiredControl
IMC Message Desired Control (407)
Set the desired virtual forces and torques to be applied to the vehicle. |
| DesiredHeading
IMC Message Desired Heading (400)
Desired Heading angle reference value for the control layer. |
| DesiredHeadingRate
IMC Message Desired Heading Rate (408)
Desired Heading Rate speed reference value for the control layer. |
| DesiredPath
IMC Message Desired Path (406)
Perform path control. The path is specified by two WGS-84 waypoints, respective altitude / depth settings, optional loitering at the end point, and some control flags. The start and end waypoints are defined by the specified end point fields ('end_{lat/lon/z}') plus: 1. |
| DesiredPath.END_Z_UNITS |
| DesiredPath.SPEED_UNITS |
| DesiredPath.START_Z_UNITS |
| DesiredPitch
IMC Message Desired Pitch (404)
Desired Pitch angle reference value for the control layer. |
| DesiredRoll
IMC Message Desired Roll (403)
Desired Roll angle reference value for the control layer. |
| DesiredSpeed
IMC Message Desired Speed (402)
Desired Speed reference value for the control layer. |
| DesiredSpeed.SPEED_UNITS |
| DesiredVelocity
IMC Message Desired Velocity (409)
Desired value for each linear and angular speeds. |
| DesiredVerticalRate
IMC Message Desired Vertical Rate (405)
Desired Vertical Rate speed reference value for the control layer. |
| DesiredZ
IMC Message Desired Z (401)
Desired Z reference value for the control layer. |
| DesiredZ.Z_UNITS |
| DevCalibrationControl
IMC Message Device Calibration Control (12)
This message controls the calibration procedure of a given device. |
| DevCalibrationControl.OP |
| DevCalibrationState
IMC Message Device Calibration State (13)
State of the calibration procedure. |
| DevDataBinary
IMC Message Device Data (Binary) (274)
Verbatim representation of device data in binary format. |
| DevDataText
IMC Message Device Data (Text) (273)
Verbatim representation of device data in plain text format. |
| DeviceState
IMC Message Device State (282)
Location of a specific device in the system infrastructure. |
| Distance
IMC Message Distance (262)
Distance measurement detected by the device. |
| Distance.VALIDITY |
| DvlRejection
IMC Message DVL Rejection (358)
When the vehicle uses Doppler Velocity Log sensor, this message notifies that a new measurement was locally rejected by the navigation filter. |
| DvlRejection.REASON |
| Elevator
IMC Message Elevator Maneuver (462)
The Elevator maneuver specifies a vehicle to reach a target waypoint using a cruise altitude/depth and then ascend or descend to another target altitude/depth. |
| Elevator.END_Z_UNITS |
| Elevator.SPEED_UNITS |
| Elevator.START_Z_UNITS |
| EmergencyControl
IMC Message Emergency Control (554)
|
| EmergencyControl.COMMAND |
| EmergencyControlState
IMC Message Emergency Control State (555)
|
| EmergencyControlState.STATE |
| EntityActivationState
IMC Message Entity Activation State (14)
State of entity activation/deactivation. |
| EntityActivationState.STATE |
| EntityControl
IMC Message Entity Control (6)
Control the activity of entities. |
| EntityControl.OP |
| EntityInfo
IMC Message Entity Information (3)
This message describes an entity. |
| EntityList
IMC Message Entity List (5)
This message describes the names and identification numbers of all entities in the system. |
| EntityList.OP |
| EntityMonitoringState
IMC Message Entity Monitoring State (503)
|
| EntityParameter
IMC Message EntityParameter (801)
Entity parameter. |
| EntityParameters
IMC Message EntityParameters (802)
List of entity parameters. |
| EntityState
IMC Message Entity State (1)
State reported by an entity in the vehicle. |
| EntityState.STATE |
| EstimatedState
IMC Message Estimated State (350)
This message presents the estimated state of the vehicle. EstimatedState is a complete description of the system in terms of parameters such as position, orientation and velocities at a particular moment in time. The system position is given by a North-East-Down (NED) local tangent plane displacement (x, y, z) relative to an absolute WGS-84 coordinate (latitude, longitude, height above ellipsoid). The symbols for position and attitude as well as linear and angular velocities were chosen according to SNAME's notation (1950). The body-fixed reference frame and Euler angles are depicted next: Euler angles |
| EstimatedStreamVelocity
IMC Message Estimated Stream Velocity (351)
The estimated stream velocity, typically for water or air streams. |
| EulerAngles
IMC Message Euler Angles (254)
Report of spatial orientation according to SNAME's notation (1950). |
| EulerAnglesDelta
IMC Message Euler Angles Delta (255)
Component of incremetal orientation vector over a period of time. |
| FollowPath
IMC Message Follow Path Maneuver (457)
Maneuver constituted by a list of Path Points. |
| FollowPath.SPEED_UNITS |
| FollowPath.Z_UNITS |
| FollowReference
IMC Message Follow Reference Maneuver (478)
This maneuver follows a reference given by an external entity. |
| FollowRefState
IMC Message Follow Reference State (480)
|
| FollowRefState.STATE |
| FollowSystem
IMC Message Follow System (471)
System-following maneuver. |
| FollowSystem.SPEED_UNITS |
| FollowSystem.Z_UNITS |
| FollowTrajectory
IMC Message Follow Trajectory (463)
Maneuver constituted by a list of Trajectory Points. |
| FollowTrajectory.SPEED_UNITS |
| FollowTrajectory.Z_UNITS |
| FuelLevel
IMC Message Fuel Level (279)
Report of fuel level. |
| GetOperationalLimits
IMC Message Get Operational Limits (505)
Command to obtain the operational limits in use by the vehicle. |
| Goto
IMC Message Goto Maneuver (450)
A "Goto" is a maneuver specifying a movement of the vehicle to a target waypoint. |
| Goto.SPEED_UNITS |
| Goto.Z_UNITS |
| GpsFix
IMC Message GPS Fix (253)
Report of a GPS fix. |
| GpsFix.TYPE |
| GpsFixRejection
IMC Message GPS Fix Rejection (356)
|
| GpsFixRejection.REASON |
| GpsNavData
IMC Message GPS Navigation Data (280)
Report of GPS navigation data. |
| GroundVelocity
IMC Message Ground Velocity (259)
Vector quantifying the direction and magnitude of the measured velocity relative to the ground that a device is exposed to. |
| Header
IMC Message Header
|
| Heartbeat
IMC Message Heartbeat (150)
The Heartbeat message is used to inform other modules that the sending entity's system is running normally and communications are alive. |
| IdleManeuver
IMC Message Idle Maneuver (454)
Causes the vehicle to stay idle for some time. |
| ImageTxSettings
IMC Message Image Transmission Settings (703)
|
| IMCAddressResolver |
| IMCDefinition
This class loads and holds an IMC definition (XML) and allows creation of compatible messages (factory), parsing and serialization
|
| IMCFieldType |
| IMCInputStream |
| IMCMessage
This class holds a message structure, including header and payload.
The message structure can be accessed with IMCMessage.getMessageType() and header with IMCMessage.getHeader() |
| IMCMessageType
When parsing the messages definition file, an hashtable is filled with the supported message structures.
|
| IMCOutputStream |
| IndicatedSpeed
IMC Message Indicated Speed (352)
Speed measured by the navigation filter. |
| LblBeacon
IMC Message LBL Beacon Configuration (202)
Position and configuration of an LBL transponder (beacon). |
| LblConfig
IMC Message LBL Configuration (203)
Long Base Line configuration. |
| LblConfig.OP |
| LblDetection
IMC Message LBL Detection (201)
Report of an LBL detection. |
| LblEstimate
IMC Message LBL Beacon Position Estimate (360)
LBL Beacon position estimate. |
| LblRange
IMC Message LBL Range (200)
When the vehicle uses Long Base Line navigation, this message notifies that a new range was received from one of the acoustics transponders. |
| LblRangeAcceptance
IMC Message LBL Range Acceptance (357)
When the vehicle uses Long Base Line navigation, this message notifies that a new range was received from one of the acoustics transponders. |
| LblRangeAcceptance.ACCEPTANCE |
| LcdControl
IMC Message LCD Control (307)
Control LCD. |
| LcdControl.OP |
| LeakSimulation
IMC Message Leak Simulation (51)
Simulate leak behavior. |
| LeakSimulation.OP |
| LedBrightness
IMC Message LED Brightness (312)
Brightness value of an LED (Light-Emitting Diode). |
| LinkLevel
IMC Message Link Level (155)
Measurement of link level quality. |
| LogBookControl
IMC Message Log Book Control (104)
Control history log. |
| LogBookControl.COMMAND |
| LogBookEntry
IMC Message Log Book Entry (103)
Human readable message reporting an event of interest. |
| LogBookEntry.TYPE |
| LoggingControl
IMC Message Logging Control (102)
Control logging of messages to persistent storage. |
| LoggingControl.OP |
| Loiter
IMC Message Loiter Maneuver (453)
The Loiter maneuver makes the vehicle circle around a specific waypoint with fixed depth reference. |
| Loiter.DIRECTION |
| Loiter.SPEED_UNITS |
| Loiter.TYPE |
| Loiter.Z_UNITS |
| LowLevelControl
IMC Message Low Level Control Maneuver (455)
Low level maneuver that sends a (heading, roll, speed, ...) reference to a controller of the vehicle and then optionally lingers for some time. |
| MagneticField
IMC Message Magnetic Field (258)
Vector quantifying the direction and magnitude of the measured magnetic field that a device is exposed to. |
| Maneuver
IMC Subtype Maneuver (Maneuver)
Messages belonging to this subtype: Goto
PopUp
Teleoperation
Loiter
IdleManeuver
LowLevelControl
Rows
FollowPath
YoYo
StationKeeping
Elevator
FollowTrajectory
CustomManeuver
VehicleFormation
CompassCalibration
CoverArea
FollowReference
|
| ManeuverControlState
IMC Message Maneuver Control State (470)
Maneuver control state. |
| ManeuverControlState.STATE |
| Map
IMC Message Map (602)
This message represents a simple map that is transferred between CCU consoles (from Neptus to ACCU) |
| MapFeature
IMC Message Map Feature (603)
A feature to appear on the map |
| MapFeature.FEATURE_TYPE |
| MapPoint
IMC Message MapPoint (604)
This message represents a point in the world. |
| MessageFactory |
| MonitorEntityState
IMC Message Monitor Entity State (502)
Controls monitoring of entity states in the vehicle. |
| MonitorEntityState.COMMAND |
| NavigationData
IMC Message Navigation Data (355)
Report of navigation data. This is constituted by data which is not part of the vehicle estimated state but that the user may refer for more information. |
| NavigationReset
IMC Message Navigation Reset (359)
Request a navigation reset. |
| NavigationUncertainty
IMC Message Navigation Uncertainty (354)
Report of navigation uncertainty. This is usually given by the output of the state covariance matrix of an Extended Kalman Filter. |
| OperationalLimits
IMC Message Operational Limits (504)
Definition of operational limits. |
| Parameter
IMC Message Parameter (10)
This message gives information about a configuration parameter. |
| ParameterControl
IMC Message Parameters Control (11)
This message is used to control the configuration in IMC-compatible systems. |
| ParameterControl.OP |
| PathControlState
IMC Message Path Control State (410)
Path control state issued by Path Controller. |
| PathControlState.END_Z_UNITS |
| PathControlState.START_Z_UNITS |
| PathPoint
IMC Message Path Point (458)
Waypoint coordinate of a Follow Path maneuver. |
| Payload
IMC Subtype Payload (Payload)
Messages belonging to this subtype: SonarConfig
|
| PlanControl
IMC Message Plan Control (559)
Plan control request/reply. |
| PlanControl.OP |
| PlanControl.TYPE |
| PlanControlState
IMC Message Plan Control State (560)
State of plan control. |
| PlanControlState.LAST_OUTCOME |
| PlanControlState.STATE |
| PlanDB
IMC Message Plan DB (556)
Request/reply to plan database. |
| PlanDB.OP |
| PlanDB.TYPE |
| PlanDBInformation
IMC Message Plan DB Information (558)
|
| PlanDBState
IMC Message Plan DB State (557)
Characterizes the state of the entire plan database. |
| PlanGeneration
IMC Message Plan Generation (562)
This message is used to order the generation of plans based on id and set of parameters. |
| PlanGeneration.CMD |
| PlanGeneration.OP |
| PlanManeuver
IMC Message Plan Maneuver (552)
Named plan maneuver. |
| PlanSpecification
IMC Message Plan Specification (551)
Identity and description of a plan's general parameters, associated with plan loading (i.e. |
| PlanTransition
IMC Message Plan Transition (553)
Describes a plan transition within a plan specification. |
| PlanVariable
IMC Message Plan Variable (561)
A plan variable. |
| PlanVariable.ACCESS |
| PlanVariable.TYPE |
| PolygonVertex
IMC Message Polygon Vertex (474)
This message is used to store the various polygon vertices for CoverArea maneuvers. |
| PopEntityParameters
IMC Message Pop Entity Parameters (812)
|
| PopUp
IMC Message PopUp Maneuver (451)
The Pop Up maneuver makes the vehicle come to the surface at a specific waypoint. |
| PopUp.SPEED_UNITS |
| PopUp.Z_UNITS |
| PowerChannelControl
IMC Message Power Channel Control (309)
This message allows controlling power channels. |
| PowerChannelControl.OP |
| PowerChannelState
IMC Message Power Channel State (311)
Message conveying the state of a power channel. |
| PowerChannelState.STATE |
| PowerOperation
IMC Message Power Operation (308)
This message allows controlling the system's power lines. |
| PowerOperation.OP |
| Pressure
IMC Message Pressure (264)
Report of external pressure. |
| Pulse
IMC Message Pulse (277)
Hardware pulse detection. |
| PulseDetectionControl
IMC Message Pulse Detection Control (278)
Control of hardware pulse detection. |
| PulseDetectionControl.OP |
| PushEntityParameters
IMC Message Push Entity Parameters (811)
|
| QueryEntityInfo
IMC Message Query Entity Information (4)
Request information about an entity identifier. |
| QueryEntityParameters
IMC Message QueryEntityParameters (803)
|
| QueryEntityState
IMC Message Query Entity State (2)
Request entities to report their state. |
| QueryLedBrightness
IMC Message Query LED Brightness (313)
Query the brightness of an LED (Light-Emitting Diode). |
| QueryPowerChannelState
IMC Message Query Power Channel State (310)
Request the state of power channels. |
| RawImage
IMC Message Raw Image (701)
|
| Reference
IMC Message Reference To Follow (479)
|
| RegisterManeuver
IMC Message Register Maneuver (469)
Command used to indicate maneuver can be executed in the vehicle. |
| RelativeHumidity
IMC Message Relative Humidity (272)
Measurement of relative humidity. |
| RemoteActions
IMC Message Remote Actions (305)
This message is used to send a periodic update of values for each remote action. |
| RemoteActionsRequest
IMC Message Remote Actions Request (304)
This message is used as query to request for the possible remote actions (operation=QUERY and the list is empty in this case). |
| RemoteActionsRequest.OP |
| RemoteSensorInfo
IMC Message Remote Sensor Info (601)
Whenever the CUCS receives a message from one of the existing sensors (through SMS, ZigBee, Acoustic Comms, ...) it disseminates that info recurring to this message. |
| RemoteState
IMC Message Remote State (750)
State summary for a remote vehicle. |
| ReplayControl
IMC Message Replay Control (105)
Control replay of LSF logged data. |
| ReplayControl.OP |
| ReportedState
IMC Message Reported State (600)
A vehicle state that is reported to other consoles (including PDAConsole). |
| ReportedState.S_TYPE |
| RestartSystem
IMC Message Restart System (9)
Request the destination system to restart itself. |
| Rows
IMC Message Rows Maneuver (456)
Rows maneuver (i.e: lawn mower type maneuver) |
| Rows.SPEED_UNITS |
| Rows.Z_UNITS |
| Rpm
IMC Message Revolutions Per Minute (250)
Number of revolutions per minute. |
| RSSI
IMC Message Receive Signal Strength Information (153)
Measure of the RSSI by a networking device. |
| Salinity
IMC Message Salinity (270)
Report of salinity. |
| SaveEntityParameters
IMC Message SaveEntityParameters (805)
|
| ServoPosition
IMC Message Servo Position (281)
Actual position of a servo. |
| SessionKeepAlive
IMC Message Session Keep-Alive (809)
Message exchanged to prevent a session from timing out |
| SessionStatus
IMC Message Session Status (810)
Message transmitted periodically to inform the state of a communication session |
| SessionStatus.STATUS |
| SessionSubscription
IMC Message Session Subscription (808)
|
| SetControlSurfaceDeflection
IMC Message Set Control Surface Deflection (303)
Set the deflection angle of a control surface. |
| SetEntityParameters
IMC Message SetEntityParameters (804)
|
| SetLedBrightness
IMC Message Set LED Brightness (314)
Control the brightness of an LED (Light-Emitting Diode). |
| SetServoPosition
IMC Message Set Servo Position (302)
Set the position of a servo. |
| SetThrusterActuation
IMC Message Set Thruster Actuation (301)
Actuate directly on a thruster. |
| SimulatedState
IMC Message Simulated State (50)
This message presents the simulated state of the vehicle. |
| Sms
IMC Message SMS (156)
Send a SMS message. |
| SmsRx
IMC Message SMS Receive (158)
Received SMS data. |
| SmsState
IMC Message SMS State (159)
|
| SmsState.STATE |
| SmsTx
IMC Message SMS Transmit (157)
Request to send SMS. |
| SonarConfig
IMC Message Sonar Configuration (275)
This message contains high-level runtime configuration parameters for Sonars. |
| SonarData
IMC Message Sonar Data (276)
This message contains the data acquired by a single sonar measurement. |
| SonarData.TYPE |
| SoundSpeed
IMC Message Sound Speed (267)
Sound Speed report. |
| StationKeeping
IMC Message Station Keeping (461)
The Station Keeping maneuver makes the vehicle come to the surface and then enter a given circular perimeter around a waypoint coordinate for a certain amount of time. |
| StationKeeping.SPEED_UNITS |
| StationKeeping.Z_UNITS |
| StopManeuver
IMC Message Stop Maneuver (468)
Command used to stop currently executing maneuver. |
| StorageUsage
IMC Message Storage Usage (100)
Report of storage usage. |
| Target
IMC Message Target (800)
Target. |
| Target.Z_UNITS |
| Teleoperation
IMC Message Teleoperation Maneuver (452)
The Teleoperation Maneuver lets the vehicle be controlled by an external human operator. |
| TeleoperationDone
IMC Message Teleoperation Done (460)
Notification of completion of a Teleoperation maneuver. |
| Temperature
IMC Message Temperature (263)
Report of temperature. |
| TrajectoryPoint
IMC Message Trajectory Point (464)
Waypoint coordinate of a Follow Trajectory maneuver. |
| TransportBindings
IMC Message Transport Bindings (8)
Message generated when tasks bind to messages. |
| TrexCommand
IMC Message TREX Command (652)
This message is used to control TREX execution |
| TrexCommand.COMMAND |
| TrexObservation
IMC Message TREX Observation (651)
This message is sent to TREX to post timeline observations |
| TrueSpeed
IMC Message True Speed (353)
Ground true speed. |
| UASimulation
IMC Message Underwater Acoustics Simulation (52)
Underwater acoustics simulation request. |
| UASimulation.TYPE |
| VehicleCommand
IMC Message Vehicle Command (501)
Vehicle command. |
| VehicleCommand.COMMAND |
| VehicleCommand.TYPE |
| VehicleFormation
IMC Message Vehicle Formation (466)
Coordinate maneuver using two or more cooperating systems. |
| VehicleFormation.SPEED_UNITS |
| VehicleFormation.Z_UNITS |
| VehicleFormationParticipant
IMC Message Vehicle Formation Participant (467)
Definition of a vehicle participant in a VehicleFormation maneuver. |
| VehicleLinks
IMC Message Vehicle Links (650)
This message is sent by the TREX task which gives further information to a TREX instance about connected IMC nodes |
| VehicleMedium
IMC Message Vehicle Medium (508)
Detect current vehicle medium. |
| VehicleMedium.MEDIUM |
| VehicleState
IMC Message Vehicle State (500)
This message summarizes the overall state of the vehicle. |
| VehicleState.OP_MODE |
| VelocityDelta
IMC Message Velocity Delta (261)
Component of incremetal velocity vector. |
| VideoData
IMC Message Video Data (700)
|
| Voltage
IMC Message Voltage (251)
Report of electrical voltage. |
| VSWR
IMC Message Voltage Standing Wave Ratio (154)
Measure of the VSWR by a networking device. |
| WaterDensity
IMC Message Water Density (268)
Water Density report. |
| WaterVelocity
IMC Message Water Velocity (260)
Vector quantifying the direction and magnitude of the measured velocity relative to the water that a device is exposed to. |
| WindSpeed
IMC Message Wind Speed (271)
Measurement of wind speed. |
| YoYo
IMC Message Yo-Yo Maneuver (459)
A "yo-yo" is a maneuver specifying a vehicle movement to a target waypoint in which depth/altitude varies along the way between two values with a desired pitch angle. |
| YoYo.SPEED_UNITS |
| YoYo.Z_UNITS |
| Class and Description |
|---|
| Announce
IMC Message Announce (151)
A system description that is to be broadcasted to other systems. |
| EstimatedState
IMC Message Estimated State (350)
This message presents the estimated state of the vehicle. EstimatedState is a complete description of the system in terms of parameters such as position, orientation and velocities at a particular moment in time. The system position is given by a North-East-Down (NED) local tangent plane displacement (x, y, z) relative to an absolute WGS-84 coordinate (latitude, longitude, height above ellipsoid). The symbols for position and attitude as well as linear and angular velocities were chosen according to SNAME's notation (1950). The body-fixed reference frame and Euler angles are depicted next: Euler angles |
| IMCMessage
This class holds a message structure, including header and payload.
The message structure can be accessed with IMCMessage.getMessageType() and header with IMCMessage.getHeader() |
| Class and Description |
|---|
| IMCDefinition
This class loads and holds an IMC definition (XML) and allows creation of compatible messages (factory), parsing and serialization
|
| Class and Description |
|---|
| IMCDefinition
This class loads and holds an IMC definition (XML) and allows creation of compatible messages (factory), parsing and serialization
|
| IMCMessage
This class holds a message structure, including header and payload.
The message structure can be accessed with IMCMessage.getMessageType() and header with IMCMessage.getHeader() |
| Class and Description |
|---|
| Announce
IMC Message Announce (151)
A system description that is to be broadcasted to other systems. |
| Announce.SYS_TYPE |
| IMCDefinition
This class loads and holds an IMC definition (XML) and allows creation of compatible messages (factory), parsing and serialization
|
| IMCMessage
This class holds a message structure, including header and payload.
The message structure can be accessed with IMCMessage.getMessageType() and header with IMCMessage.getHeader() |
| Class and Description |
|---|
| IMCDefinition
This class loads and holds an IMC definition (XML) and allows creation of compatible messages (factory), parsing and serialization
|
| IMCMessage
This class holds a message structure, including header and payload.
The message structure can be accessed with IMCMessage.getMessageType() and header with IMCMessage.getHeader() |
| Class and Description |
|---|
| IMCMessage
This class holds a message structure, including header and payload.
The message structure can be accessed with IMCMessage.getMessageType() and header with IMCMessage.getHeader() |
| Class and Description |
|---|
| IMCMessage
This class holds a message structure, including header and payload.
The message structure can be accessed with IMCMessage.getMessageType() and header with IMCMessage.getHeader() |
| Class and Description |
|---|
| Abort
IMC Message Abort (550)
Stops any executing actions and put the system in a standby mode. |
| Acceleration
IMC Message Acceleration (257)
Vector quantifying the direction and magnitude of the measured acceleration that a device is exposed to. |
| AcousticDiagnostic
IMC Message Acoustic Diagnostic (207)
Enable/Disable Acoustic Diagnostic. |
| AcousticMessage
IMC Message Acoustic Message (206)
Send an acoustic message. |
| AcousticNoise
IMC Message Acoustic Noise (208)
Report on the conditions of the underwater medium, for when acoustic diagnostics are enabled. |
| AcousticOperation
IMC Message Acoustic Operation (211)
Acoustic operation. |
| AcousticPing
IMC Message Acoustic Ping (209)
Ping remote modem. |
| AcousticPingReply
IMC Message Acoustic Ping Reply (210)
Acoust Ping Reply. |
| AcousticRange
IMC Message Acoustic Range (204)
Issue an acoustic range command. |
| AcousticRangeReply
IMC Message Acoustic Range Reply (205)
Acoustic range measure in response to a range command. |
| AcousticSystems
IMC Message Acoustic Systems (213)
This message is sent in reply to an AcousticSystemsQuery message and lists all known underwater acoustic systems (modems, narrow band transponders, etc). |
| AcousticSystemsQuery
IMC Message Acoustic Systems Query (212)
Request a list of known underwater acoustic systems. |
| AllocatedControlTorques
IMC Message Allocated Control Torques (411)
Control torques allocated to the actuators. |
| AngularVelocity
IMC Message Angular Velocity (256)
Vector quantifying the direction and magnitude of the measured angular velocity that a device is exposed to. |
| Announce
IMC Message Announce (151)
A system description that is to be broadcasted to other systems. |
| AnnounceService
IMC Message Announce Service (152)
Announcement about the existence of a service. |
| BeamConfig
IMC Message Beam Configuration (283)
Beam configuration of the device. |
| Brake
IMC Message Brake (413)
Brake the vehicle in some way, i. |
| ButtonEvent
IMC Message Button Event (306)
Event of a specific hardware button. |
| CacheControl
IMC Message Cache Control (101)
Control caching of messages to persistent storage. |
| Calibration
IMC Message Calibration (506)
Initiate overall calibration of a vehicle. |
| CameraZoom
IMC Message Camera Zoom (300)
Camera Zoom. |
| CcuEvent
IMC Message CCU Event (606)
This message is used to signal events among running CCUs. |
| ClockControl
IMC Message Clock Control (106)
Clock control. |
| CloseSession
IMC Message Close Session (807)
Request closing of an ongoing session |
| Collision
IMC Message Collision (509)
Detected collision. |
| CommsRelay
IMC Message Communications Relay (472)
In this maneuver, a vehicle drives to the center of two other systems (a, b) in order to be used as a communications relay. |
| CompassCalibration
IMC Message Compass Calibration Maneuver (475)
This maneuver is a mix between the Loiter maneuver and the YoYo maneuver. The vehicle cirlcles around a specific waypoint with a variable Z reference between a minimum and maximum value. |
| CompressedImage
IMC Message Compressed Image (702)
|
| Conductivity
IMC Message Conductivity (269)
Report of conductivity. |
| ControlLoops
IMC Message Control Loops (507)
Enable or disable control loops. |
| ControlParcel
IMC Message Control Parcel (412)
Report of PID control parcels. |
| CoverArea
IMC Message Cover Area (473)
Given a polygonal area, generates trajectories to cover the area. |
| CpuUsage
IMC Message CPU Usage (7)
Report of software CPU usage. |
| CreateSession
IMC Message Create Session (806)
Request creating a new session with this remote peer. |
| Current
IMC Message Current (252)
Report of electrical current. |
| CustomManeuver
IMC Message Custom Maneuver (465)
The Custom Maneuver message may be used as specification of a very specific maneuver not covered by the IMC scope. |
| Depth
IMC Message Depth (265)
Depth report. |
| DepthOffset
IMC Message Depth Offset (266)
Report of Depth Offset. |
| DesiredControl
IMC Message Desired Control (407)
Set the desired virtual forces and torques to be applied to the vehicle. |
| DesiredHeading
IMC Message Desired Heading (400)
Desired Heading angle reference value for the control layer. |
| DesiredHeadingRate
IMC Message Desired Heading Rate (408)
Desired Heading Rate speed reference value for the control layer. |
| DesiredPath
IMC Message Desired Path (406)
Perform path control. The path is specified by two WGS-84 waypoints, respective altitude / depth settings, optional loitering at the end point, and some control flags. The start and end waypoints are defined by the specified end point fields ('end_{lat/lon/z}') plus: 1. |
| DesiredPitch
IMC Message Desired Pitch (404)
Desired Pitch angle reference value for the control layer. |
| DesiredRoll
IMC Message Desired Roll (403)
Desired Roll angle reference value for the control layer. |
| DesiredSpeed
IMC Message Desired Speed (402)
Desired Speed reference value for the control layer. |
| DesiredVelocity
IMC Message Desired Velocity (409)
Desired value for each linear and angular speeds. |
| DesiredVerticalRate
IMC Message Desired Vertical Rate (405)
Desired Vertical Rate speed reference value for the control layer. |
| DesiredZ
IMC Message Desired Z (401)
Desired Z reference value for the control layer. |
| DevCalibrationControl
IMC Message Device Calibration Control (12)
This message controls the calibration procedure of a given device. |
| DevCalibrationState
IMC Message Device Calibration State (13)
State of the calibration procedure. |
| DevDataBinary
IMC Message Device Data (Binary) (274)
Verbatim representation of device data in binary format. |
| DevDataText
IMC Message Device Data (Text) (273)
Verbatim representation of device data in plain text format. |
| DeviceState
IMC Message Device State (282)
Location of a specific device in the system infrastructure. |
| Distance
IMC Message Distance (262)
Distance measurement detected by the device. |
| DvlRejection
IMC Message DVL Rejection (358)
When the vehicle uses Doppler Velocity Log sensor, this message notifies that a new measurement was locally rejected by the navigation filter. |
| Elevator
IMC Message Elevator Maneuver (462)
The Elevator maneuver specifies a vehicle to reach a target waypoint using a cruise altitude/depth and then ascend or descend to another target altitude/depth. |
| EmergencyControl
IMC Message Emergency Control (554)
|
| EmergencyControlState
IMC Message Emergency Control State (555)
|
| EntityActivationState
IMC Message Entity Activation State (14)
State of entity activation/deactivation. |
| EntityControl
IMC Message Entity Control (6)
Control the activity of entities. |
| EntityInfo
IMC Message Entity Information (3)
This message describes an entity. |
| EntityList
IMC Message Entity List (5)
This message describes the names and identification numbers of all entities in the system. |
| EntityMonitoringState
IMC Message Entity Monitoring State (503)
|
| EntityParameter
IMC Message EntityParameter (801)
Entity parameter. |
| EntityParameters
IMC Message EntityParameters (802)
List of entity parameters. |
| EntityState
IMC Message Entity State (1)
State reported by an entity in the vehicle. |
| EstimatedState
IMC Message Estimated State (350)
This message presents the estimated state of the vehicle. EstimatedState is a complete description of the system in terms of parameters such as position, orientation and velocities at a particular moment in time. The system position is given by a North-East-Down (NED) local tangent plane displacement (x, y, z) relative to an absolute WGS-84 coordinate (latitude, longitude, height above ellipsoid). The symbols for position and attitude as well as linear and angular velocities were chosen according to SNAME's notation (1950). The body-fixed reference frame and Euler angles are depicted next: Euler angles |
| EstimatedStreamVelocity
IMC Message Estimated Stream Velocity (351)
The estimated stream velocity, typically for water or air streams. |
| EulerAngles
IMC Message Euler Angles (254)
Report of spatial orientation according to SNAME's notation (1950). |
| EulerAnglesDelta
IMC Message Euler Angles Delta (255)
Component of incremetal orientation vector over a period of time. |
| FollowPath
IMC Message Follow Path Maneuver (457)
Maneuver constituted by a list of Path Points. |
| FollowReference
IMC Message Follow Reference Maneuver (478)
This maneuver follows a reference given by an external entity. |
| FollowRefState
IMC Message Follow Reference State (480)
|
| FollowSystem
IMC Message Follow System (471)
System-following maneuver. |
| FollowTrajectory
IMC Message Follow Trajectory (463)
Maneuver constituted by a list of Trajectory Points. |
| FuelLevel
IMC Message Fuel Level (279)
Report of fuel level. |
| GetOperationalLimits
IMC Message Get Operational Limits (505)
Command to obtain the operational limits in use by the vehicle. |
| Goto
IMC Message Goto Maneuver (450)
A "Goto" is a maneuver specifying a movement of the vehicle to a target waypoint. |
| GpsFix
IMC Message GPS Fix (253)
Report of a GPS fix. |
| GpsFixRejection
IMC Message GPS Fix Rejection (356)
|
| GpsNavData
IMC Message GPS Navigation Data (280)
Report of GPS navigation data. |
| GroundVelocity
IMC Message Ground Velocity (259)
Vector quantifying the direction and magnitude of the measured velocity relative to the ground that a device is exposed to. |
| Heartbeat
IMC Message Heartbeat (150)
The Heartbeat message is used to inform other modules that the sending entity's system is running normally and communications are alive. |
| IdleManeuver
IMC Message Idle Maneuver (454)
Causes the vehicle to stay idle for some time. |
| ImageTxSettings
IMC Message Image Transmission Settings (703)
|
| IMCDefinition
This class loads and holds an IMC definition (XML) and allows creation of compatible messages (factory), parsing and serialization
|
| IMCMessage
This class holds a message structure, including header and payload.
The message structure can be accessed with IMCMessage.getMessageType() and header with IMCMessage.getHeader() |
| IndicatedSpeed
IMC Message Indicated Speed (352)
Speed measured by the navigation filter. |
| LblBeacon
IMC Message LBL Beacon Configuration (202)
Position and configuration of an LBL transponder (beacon). |
| LblConfig
IMC Message LBL Configuration (203)
Long Base Line configuration. |
| LblDetection
IMC Message LBL Detection (201)
Report of an LBL detection. |
| LblEstimate
IMC Message LBL Beacon Position Estimate (360)
LBL Beacon position estimate. |
| LblRange
IMC Message LBL Range (200)
When the vehicle uses Long Base Line navigation, this message notifies that a new range was received from one of the acoustics transponders. |
| LblRangeAcceptance
IMC Message LBL Range Acceptance (357)
When the vehicle uses Long Base Line navigation, this message notifies that a new range was received from one of the acoustics transponders. |
| LcdControl
IMC Message LCD Control (307)
Control LCD. |
| LeakSimulation
IMC Message Leak Simulation (51)
Simulate leak behavior. |
| LedBrightness
IMC Message LED Brightness (312)
Brightness value of an LED (Light-Emitting Diode). |
| LinkLevel
IMC Message Link Level (155)
Measurement of link level quality. |
| LogBookControl
IMC Message Log Book Control (104)
Control history log. |
| LogBookEntry
IMC Message Log Book Entry (103)
Human readable message reporting an event of interest. |
| LoggingControl
IMC Message Logging Control (102)
Control logging of messages to persistent storage. |
| Loiter
IMC Message Loiter Maneuver (453)
The Loiter maneuver makes the vehicle circle around a specific waypoint with fixed depth reference. |
| LowLevelControl
IMC Message Low Level Control Maneuver (455)
Low level maneuver that sends a (heading, roll, speed, ...) reference to a controller of the vehicle and then optionally lingers for some time. |
| MagneticField
IMC Message Magnetic Field (258)
Vector quantifying the direction and magnitude of the measured magnetic field that a device is exposed to. |
| ManeuverControlState
IMC Message Maneuver Control State (470)
Maneuver control state. |
| Map
IMC Message Map (602)
This message represents a simple map that is transferred between CCU consoles (from Neptus to ACCU) |
| MapFeature
IMC Message Map Feature (603)
A feature to appear on the map |
| MapPoint
IMC Message MapPoint (604)
This message represents a point in the world. |
| MonitorEntityState
IMC Message Monitor Entity State (502)
Controls monitoring of entity states in the vehicle. |
| NavigationData
IMC Message Navigation Data (355)
Report of navigation data. This is constituted by data which is not part of the vehicle estimated state but that the user may refer for more information. |
| NavigationReset
IMC Message Navigation Reset (359)
Request a navigation reset. |
| NavigationUncertainty
IMC Message Navigation Uncertainty (354)
Report of navigation uncertainty. This is usually given by the output of the state covariance matrix of an Extended Kalman Filter. |
| OperationalLimits
IMC Message Operational Limits (504)
Definition of operational limits. |
| Parameter
IMC Message Parameter (10)
This message gives information about a configuration parameter. |
| ParameterControl
IMC Message Parameters Control (11)
This message is used to control the configuration in IMC-compatible systems. |
| PathControlState
IMC Message Path Control State (410)
Path control state issued by Path Controller. |
| PathPoint
IMC Message Path Point (458)
Waypoint coordinate of a Follow Path maneuver. |
| PlanControl
IMC Message Plan Control (559)
Plan control request/reply. |
| PlanControlState
IMC Message Plan Control State (560)
State of plan control. |
| PlanDB
IMC Message Plan DB (556)
Request/reply to plan database. |
| PlanDBInformation
IMC Message Plan DB Information (558)
|
| PlanDBState
IMC Message Plan DB State (557)
Characterizes the state of the entire plan database. |
| PlanGeneration
IMC Message Plan Generation (562)
This message is used to order the generation of plans based on id and set of parameters. |
| PlanManeuver
IMC Message Plan Maneuver (552)
Named plan maneuver. |
| PlanSpecification
IMC Message Plan Specification (551)
Identity and description of a plan's general parameters, associated with plan loading (i.e. |
| PlanTransition
IMC Message Plan Transition (553)
Describes a plan transition within a plan specification. |
| PlanVariable
IMC Message Plan Variable (561)
A plan variable. |
| PolygonVertex
IMC Message Polygon Vertex (474)
This message is used to store the various polygon vertices for CoverArea maneuvers. |
| PopEntityParameters
IMC Message Pop Entity Parameters (812)
|
| PopUp
IMC Message PopUp Maneuver (451)
The Pop Up maneuver makes the vehicle come to the surface at a specific waypoint. |
| PowerChannelControl
IMC Message Power Channel Control (309)
This message allows controlling power channels. |
| PowerChannelState
IMC Message Power Channel State (311)
Message conveying the state of a power channel. |
| PowerOperation
IMC Message Power Operation (308)
This message allows controlling the system's power lines. |
| Pressure
IMC Message Pressure (264)
Report of external pressure. |
| Pulse
IMC Message Pulse (277)
Hardware pulse detection. |
| PulseDetectionControl
IMC Message Pulse Detection Control (278)
Control of hardware pulse detection. |
| PushEntityParameters
IMC Message Push Entity Parameters (811)
|
| QueryEntityInfo
IMC Message Query Entity Information (4)
Request information about an entity identifier. |
| QueryEntityParameters
IMC Message QueryEntityParameters (803)
|
| QueryEntityState
IMC Message Query Entity State (2)
Request entities to report their state. |
| QueryLedBrightness
IMC Message Query LED Brightness (313)
Query the brightness of an LED (Light-Emitting Diode). |
| QueryPowerChannelState
IMC Message Query Power Channel State (310)
Request the state of power channels. |
| RawImage
IMC Message Raw Image (701)
|
| Reference
IMC Message Reference To Follow (479)
|
| RegisterManeuver
IMC Message Register Maneuver (469)
Command used to indicate maneuver can be executed in the vehicle. |
| RelativeHumidity
IMC Message Relative Humidity (272)
Measurement of relative humidity. |
| RemoteActions
IMC Message Remote Actions (305)
This message is used to send a periodic update of values for each remote action. |
| RemoteActionsRequest
IMC Message Remote Actions Request (304)
This message is used as query to request for the possible remote actions (operation=QUERY and the list is empty in this case). |
| RemoteSensorInfo
IMC Message Remote Sensor Info (601)
Whenever the CUCS receives a message from one of the existing sensors (through SMS, ZigBee, Acoustic Comms, ...) it disseminates that info recurring to this message. |
| RemoteState
IMC Message Remote State (750)
State summary for a remote vehicle. |
| ReplayControl
IMC Message Replay Control (105)
Control replay of LSF logged data. |
| ReportedState
IMC Message Reported State (600)
A vehicle state that is reported to other consoles (including PDAConsole). |
| RestartSystem
IMC Message Restart System (9)
Request the destination system to restart itself. |
| Rows
IMC Message Rows Maneuver (456)
Rows maneuver (i.e: lawn mower type maneuver) |
| Rpm
IMC Message Revolutions Per Minute (250)
Number of revolutions per minute. |
| RSSI
IMC Message Receive Signal Strength Information (153)
Measure of the RSSI by a networking device. |
| Salinity
IMC Message Salinity (270)
Report of salinity. |
| SaveEntityParameters
IMC Message SaveEntityParameters (805)
|
| ServoPosition
IMC Message Servo Position (281)
Actual position of a servo. |
| SessionKeepAlive
IMC Message Session Keep-Alive (809)
Message exchanged to prevent a session from timing out |
| SessionStatus
IMC Message Session Status (810)
Message transmitted periodically to inform the state of a communication session |
| SessionSubscription
IMC Message Session Subscription (808)
|
| SetControlSurfaceDeflection
IMC Message Set Control Surface Deflection (303)
Set the deflection angle of a control surface. |
| SetEntityParameters
IMC Message SetEntityParameters (804)
|
| SetLedBrightness
IMC Message Set LED Brightness (314)
Control the brightness of an LED (Light-Emitting Diode). |
| SetServoPosition
IMC Message Set Servo Position (302)
Set the position of a servo. |
| SetThrusterActuation
IMC Message Set Thruster Actuation (301)
Actuate directly on a thruster. |
| SimulatedState
IMC Message Simulated State (50)
This message presents the simulated state of the vehicle. |
| Sms
IMC Message SMS (156)
Send a SMS message. |
| SmsRx
IMC Message SMS Receive (158)
Received SMS data. |
| SmsState
IMC Message SMS State (159)
|
| SmsTx
IMC Message SMS Transmit (157)
Request to send SMS. |
| SonarConfig
IMC Message Sonar Configuration (275)
This message contains high-level runtime configuration parameters for Sonars. |
| SonarData
IMC Message Sonar Data (276)
This message contains the data acquired by a single sonar measurement. |
| SoundSpeed
IMC Message Sound Speed (267)
Sound Speed report. |
| StationKeeping
IMC Message Station Keeping (461)
The Station Keeping maneuver makes the vehicle come to the surface and then enter a given circular perimeter around a waypoint coordinate for a certain amount of time. |
| StopManeuver
IMC Message Stop Maneuver (468)
Command used to stop currently executing maneuver. |
| StorageUsage
IMC Message Storage Usage (100)
Report of storage usage. |
| Target
IMC Message Target (800)
Target. |
| Teleoperation
IMC Message Teleoperation Maneuver (452)
The Teleoperation Maneuver lets the vehicle be controlled by an external human operator. |
| TeleoperationDone
IMC Message Teleoperation Done (460)
Notification of completion of a Teleoperation maneuver. |
| Temperature
IMC Message Temperature (263)
Report of temperature. |
| TrajectoryPoint
IMC Message Trajectory Point (464)
Waypoint coordinate of a Follow Trajectory maneuver. |
| TransportBindings
IMC Message Transport Bindings (8)
Message generated when tasks bind to messages. |
| TrexCommand
IMC Message TREX Command (652)
This message is used to control TREX execution |
| TrexObservation
IMC Message TREX Observation (651)
This message is sent to TREX to post timeline observations |
| TrueSpeed
IMC Message True Speed (353)
Ground true speed. |
| UASimulation
IMC Message Underwater Acoustics Simulation (52)
Underwater acoustics simulation request. |
| VehicleCommand
IMC Message Vehicle Command (501)
Vehicle command. |
| VehicleFormation
IMC Message Vehicle Formation (466)
Coordinate maneuver using two or more cooperating systems. |
| VehicleFormationParticipant
IMC Message Vehicle Formation Participant (467)
Definition of a vehicle participant in a VehicleFormation maneuver. |
| VehicleLinks
IMC Message Vehicle Links (650)
This message is sent by the TREX task which gives further information to a TREX instance about connected IMC nodes |
| VehicleMedium
IMC Message Vehicle Medium (508)
Detect current vehicle medium. |
| VehicleState
IMC Message Vehicle State (500)
This message summarizes the overall state of the vehicle. |
| VelocityDelta
IMC Message Velocity Delta (261)
Component of incremetal velocity vector. |
| VideoData
IMC Message Video Data (700)
|
| Voltage
IMC Message Voltage (251)
Report of electrical voltage. |
| VSWR
IMC Message Voltage Standing Wave Ratio (154)
Measure of the VSWR by a networking device. |
| WaterDensity
IMC Message Water Density (268)
Water Density report. |
| WaterVelocity
IMC Message Water Velocity (260)
Vector quantifying the direction and magnitude of the measured velocity relative to the water that a device is exposed to. |
| WindSpeed
IMC Message Wind Speed (271)
Measurement of wind speed. |
| YoYo
IMC Message Yo-Yo Maneuver (459)
A "yo-yo" is a maneuver specifying a vehicle movement to a target waypoint in which depth/altitude varies along the way between two values with a desired pitch angle. |