This message presents the simulated state of the vehicle. The simulated state attempts to provide a realistic state interpretation of operating various kinds of vehicles.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Latitude (WGS-84) | lat | rad | fp64_t | WGS-84 Latitude. | min=-1.5707963267948966, max=1.5707963267948966 |
| Longitude (WGS-84) | lon | rad | fp64_t | WGS-84 Longitude. | min=-3.141592653589793, max=3.141592653589793 |
| Height (WGS-84) | height | m | fp32_t | Height above the WGS-84 ellipsoid. | Same as field type |
| Offset north (m) | x | m | fp32_t | The North offset of the North/East/Down field. | Same as field type |
| Offset east (m) | y | m | fp32_t | The East offset of the North/East/Down field. | Same as field type |
| Offset down (m) | z | m | fp32_t | The Down offset of the North/East/Down field. | Same as field type |
| Rotation over x axis | phi | rad | fp32_t | The phi Euler angle from the vehicle’s attitude. | min=-3.141592653589793, max=3.141592653589793 |
| Rotation over y axis | theta | rad | fp32_t | The theta Euler angle from the vehicle’s attitude. | min=-1.57079632679490, max=1.57079632679490 |
| Rotation over z axis | psi | rad | fp32_t | The psi Euler angle from the vehicle’s attitude. | min=-3.141592653589793, max=3.141592653589793 |
| Body-Fixed xx Linear Velocity | u | m/s | fp32_t | Body-fixed frame xx axis linear velocity component. | Same as field type |
| Body-Fixed yy Linear Velocity | v | m/s | fp32_t | Body-fixed frame yy axis linear velocity component. | Same as field type |
| Body-Fixed zz Linear Velocity | w | m/s | fp32_t | Body-fixed frame zz axis linear velocity component. | Same as field type |
| Angular Velocity in x | p | rad/s | fp32_t | The angular velocity over body-fixed xx axis (roll rate). | min=-3.141592653589793, max=3.141592653589793 |
| Angular Velocity in y | q | rad/s | fp32_t | The angular velocity over body-fixed yy axis (pitch rate). | min=-3.141592653589793, max=3.141592653589793 |
| Angular Velocity in z | r | rad/s | fp32_t | The angular velocity over body-fixed zz axis (yaw rate). | min=-3.141592653589793, max=3.141592653589793 |
| Stream Velocity X (North) | svx | m/s | fp32_t | Stream Velocity xx axis velocity component. | Same as field type |
| Stream Velocity Y (East) | svy | m/s | fp32_t | Stream Velocity yy axis velocity component. | Same as field type |
| Stream Velocity Z (Down) | svz | m/s | fp32_t | Stream Velocity zz axis velocity component. | Same as field type |
Simulate leak behavior.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Operation | op | Enumerated (Enum Operation) | uint8_t | Indicates whether leaks have been detected or not. | Same as field type |
| Leak Entities | entities | - | plaintext | Comma separated list of leak entities (empty for all leaks configured). | Same as field type |
Indicates whether leaks have been detected or not.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Leaks Off | OFF | - |
| 1 | Leaks On | ON | - |
Underwater acoustics simulation request.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Type | type | Enumerated (Enum Type) | uint8_t | Type of request. | Same as field type |
| Transmission Speed | speed | bps | uint16_t | Transmission speed. | Same as field type |
| Data | data | - | rawdata | Data for transmission requests. | Same as field type |
Type of request.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Data Transmission | DATA | - |
| 1 | Ping | PING | - |
| 2 | Ping Reply | PING_REPLY | - |
Vehicle dynamics parameters for 3DOF, 4DOF or 5DOF simulations.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Action on the Vehicle Simulation Parameters | op | Enumerated (Enum Action on the Vehicle Simulation Parameters) | uint8_t | Action on the vehicle simulation parameters for the formation control | Same as field type |
| TAS to Longitudinal Acceleration Gain | tas2acc_pgain | - | fp32_t | Proportional gain from the TAS (True Airspeed) error to the longitudinal acceleration. | Same as field type |
| Bank to Bank Rate Gain | bank2p_pgain | - | fp32_t | Proportional gain from the bank angle error to the bank angular rate. | Same as field type |
Action on the vehicle simulation parameters for the formation control
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Request | REQUEST | - |
| 1 | Set | SET | - |
| 2 | Report | REPORT | - |