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Maneuvering.html
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
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<html xmlns="http://www.w3.org/1999/xhtml">
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<title>Maneuvering 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="maneuvering-messages">
<h1>Maneuvering Messages<a class="headerlink" href="#maneuvering-messages" title="Permalink to this headline">¶</a></h1>
<div class="section" id="goto-maneuver">
<span id="goto"></span><h2>Goto Maneuver<a class="headerlink" href="#goto-maneuver" title="Permalink to this headline">¶</a></h2>
<p>A “Goto” is a maneuver specifying a movement of the vehicle to a
target waypoint. The waypoint is described by the WGS-84
waypoint coordinate and target Z reference.</p>
<p>Mandatory parameters defined for a “Goto” are
timeout, speed and speed units.</p>
<p>Optional parameters may be defined for the target Euler
Angles (roll, pitch and yaw) though these parameters may
not be considered by all maneuver controllers in charge
of the execution of this type of maneuver.</p>
<ul class="simple">
<li>Abbreviation: Goto</li>
<li>Identification Number: 450</li>
<li>Payload Size: 54+ bytes</li>
<li>Message Size: 76+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="18%" />
<col width="8%" />
<col width="15%" />
<col width="6%" />
<col width="37%" />
<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>Timeout</td>
<td>timeout</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>The amount of time the maneuver is allowed to run.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Latitude WGS-84</td>
<td>lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Latitude of target waypoint.</td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-even"><td>Longitude WGS-84</td>
<td>lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Longitude of target waypoint.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>Z Reference</td>
<td>z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Target reference in the z axis. Use z_units to specify
whether z represents depth, altitude or other.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Z Units</td>
<td>z_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-zunits"><span class="std std-ref">Enum Z Units</span></a>)</td>
<td>uint8_t</td>
<td>Units of the z reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Speed</td>
<td>speed</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>Maneuver speed reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Speed Units</td>
<td>speed_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-speedunits"><span class="std std-ref">Enum Speed Units</span></a>)</td>
<td>uint8_t</td>
<td>Speed units.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Roll</td>
<td>roll</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>The phi Euler angle in which the vehicle should set its
attitude. Use ‘-1’ for this field to be
unconsidered. Otherwise the value spans from 0 to 2 Pi.</td>
<td>min=-1,
max=6.283185307179586</td>
</tr>
<tr class="row-even"><td>Pitch</td>
<td>pitch</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>The theta Euler angle in which the vehicle should set its
attitude. Use ‘-1’ for this field to be
disconcerted. Otherwise the value spans from 0 to 2 Pi.</td>
<td>min=-1,
max=6.283185307179586</td>
</tr>
<tr class="row-odd"><td>Yaw</td>
<td>yaw</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>The psi Euler angle in which the vehicle should set its
attitude. Use ‘-1’ for this field to be considered. Otherwise
the value spans from 0 to 2 Pi.</td>
<td>min=-1,
max=6.283185307179586</td>
</tr>
<tr class="row-even"><td>Custom settings for maneuver</td>
<td>custom</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td>Custom settings for maneuver.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="popup-maneuver">
<span id="popup"></span><h2>PopUp Maneuver<a class="headerlink" href="#popup-maneuver" title="Permalink to this headline">¶</a></h2>
<p>The Pop Up maneuver makes the vehicle come to the surface at a
specific waypoint. This maneuver is restricted to underwater vehicles.</p>
<ul class="simple">
<li>Abbreviation: PopUp</li>
<li>Identification Number: 451</li>
<li>Payload Size: 37+ bytes</li>
<li>Message Size: 59+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="17%" />
<col width="8%" />
<col width="18%" />
<col width="6%" />
<col width="36%" />
<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>Timeout</td>
<td>timeout</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>The amount of time the maneuver is allowed to run. If the
maneuver is not completed in the amount of time specified an
error will be generated.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Latitude WGS-84</td>
<td>lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Latitude.</td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-even"><td>Longitude WGS-84</td>
<td>lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Longitude.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>Z Reference</td>
<td>z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Maneuver reference in the z axis. Use z_units to specify
whether z represents depth, altitude or other.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Z Units</td>
<td>z_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-zunits"><span class="std std-ref">Enum Z Units</span></a>)</td>
<td>uint8_t</td>
<td>Units of the z reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Speed</td>
<td>speed</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>Maneuver speed reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Speed Units</td>
<td>speed_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-speedunits"><span class="std std-ref">Enum Speed Units</span></a>)</td>
<td>uint8_t</td>
<td>Speed units.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Duration</td>
<td>duration</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>The duration of this maneuver at surface level.
Only used if flag WAIT_AT_SURFACE is on.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Radius</td>
<td>radius</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Radius of the maneuver.
Only used if flag STATION_KEEP is on.</td>
<td>min=1,
max=100000</td>
</tr>
<tr class="row-odd"><td>Flags</td>
<td>flags</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#popup-bitfield-flags"><span class="std std-ref">Bitfield Flags</span></a>)</td>
<td>uint8_t</td>
<td>Flags of the maneuver.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Custom settings for maneuver</td>
<td>custom</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td>Custom settings for maneuver.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="bitfield-flags">
<span id="popup-bitfield-prefix-flg"></span><span id="popup-bitfield-flags"></span><h3>Bitfield Flags<a class="headerlink" href="#bitfield-flags" title="Permalink to this headline">¶</a></h3>
<p>Flags of the maneuver.</p>
<ul class="simple">
<li>Abbreviation: flags</li>
<li>Prefix: FLG</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="23%" />
<col width="13%" />
<col width="58%" />
</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>Start from current position</td>
<td>CURR_POS</td>
<td>If this flag is set, lat/lon/start_z fields should be
ignored and current vehicle position should be considered as
starting point for ascent/descent.</td>
</tr>
<tr class="row-odd"><td>0x02</td>
<td>Wait at surface</td>
<td>WAIT_AT_SURFACE</td>
<td>If this flag is set, duration field is used to hold position at surface
for that amount of time.</td>
</tr>
<tr class="row-even"><td>0x04</td>
<td>Station keeping</td>
<td>STATION_KEEP</td>
<td>This flag will only make sense if WAIT_AT_SURFACE is also set.
While holding position at surface the vehicle will assume a
station keeping behavior.</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="teleoperation-maneuver">
<span id="teleoperation"></span><h2>Teleoperation Maneuver<a class="headerlink" href="#teleoperation-maneuver" title="Permalink to this headline">¶</a></h2>
<p>The Teleoperation Maneuver lets the vehicle be controlled by an
external human operator.</p>
<ul class="simple">
<li>Abbreviation: Teleoperation</li>
<li>Identification Number: 452</li>
<li>Payload Size: 2+ bytes</li>
<li>Message Size: 24+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="25%" />
<col width="12%" />
<col width="11%" />
<col width="9%" />
<col width="26%" />
<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>Custom settings for maneuver</td>
<td>custom</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td>Custom settings for maneuver.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="loiter-maneuver">
<span id="loiter"></span><h2>Loiter Maneuver<a class="headerlink" href="#loiter-maneuver" title="Permalink to this headline">¶</a></h2>
<p>The Loiter maneuver makes the vehicle circle around a specific
waypoint with fixed depth reference.</p>
<ul class="simple">
<li>Abbreviation: Loiter</li>
<li>Identification Number: 453</li>
<li>Payload Size: 50+ bytes</li>
<li>Message Size: 72+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="17%" />
<col width="8%" />
<col width="18%" />
<col width="6%" />
<col width="36%" />
<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>Timeout</td>
<td>timeout</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>The timeout indicates the time that an error should occur if
exceeded.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><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-even"><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-odd"><td>Z Reference</td>
<td>z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Maneuver reference in the z axis. Use z_units to specify
whether z represents depth, altitude or other.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Z Units</td>
<td>z_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-zunits"><span class="std std-ref">Enum Z Units</span></a>)</td>
<td>uint8_t</td>
<td>Units of the z reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Duration</td>
<td>duration</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>The duration of this maneuver. Use ‘0’ for unlimited duration
time.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Speed</td>
<td>speed</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>Maneuver speed reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Speed Units</td>
<td>speed_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-speedunits"><span class="std std-ref">Enum Speed Units</span></a>)</td>
<td>uint8_t</td>
<td>Speed units.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Loiter Type</td>
<td>type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#loiter-enum-type"><span class="std std-ref">Enum Loiter Type</span></a>)</td>
<td>uint8_t</td>
<td>Loiter maneuver type.</td>
<td>max=4</td>
</tr>
<tr class="row-odd"><td>Radius</td>
<td>radius</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Radius of the maneuver.</td>
<td>min=1,
max=100000</td>
</tr>
<tr class="row-even"><td>Length</td>
<td>length</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Length of the maneuver.</td>
<td>min=1,
max=100000</td>
</tr>
<tr class="row-odd"><td>Bearing</td>
<td>bearing</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>Bearing of the maneuver.</td>
<td>min=0,
max=6.283185307179586</td>
</tr>
<tr class="row-even"><td>Direction</td>
<td>direction</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#loiter-enum-direction"><span class="std std-ref">Enum Direction</span></a>)</td>
<td>uint8_t</td>
<td>Desired direction.</td>
<td>max=3</td>
</tr>
<tr class="row-odd"><td>Custom settings for maneuver</td>
<td>custom</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td>Custom settings for maneuver.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-loiter-type">
<span id="loiter-enum-prefix-lt"></span><span id="loiter-enum-type"></span><h3>Enum Loiter Type<a class="headerlink" href="#enum-loiter-type" title="Permalink to this headline">¶</a></h3>
<p>Loiter maneuver type.</p>
<ul class="simple">
<li>Abbreviation: type</li>
<li>Prefix: LT</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="15%" />
<col width="26%" />
<col width="30%" />
<col width="28%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Default</td>
<td>DEFAULT</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Circular</td>
<td>CIRCULAR</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Race track</td>
<td>RACETRACK</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Figure 8</td>
<td>EIGHT</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>4</td>
<td>Hover</td>
<td>HOVER</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="enum-direction">
<span id="loiter-enum-prefix-ld"></span><span id="loiter-enum-direction"></span><h3>Enum Direction<a class="headerlink" href="#enum-direction" title="Permalink to this headline">¶</a></h3>
<p>Desired direction.</p>
<ul class="simple">
<li>Abbreviation: direction</li>
<li>Prefix: LD</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="12%" />
<col width="40%" />
<col width="25%" />
<col width="23%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Vehicle Dependent</td>
<td>VDEP</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Clockwise</td>
<td>CLOCKW</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Counter Clockwise</td>
<td>CCLOCKW</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Into the wind/current</td>
<td>IWINDCURR</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="idlemaneuver">
<span id="idle-maneuver"></span><h2>Idle Maneuver<a class="headerlink" href="#idlemaneuver" title="Permalink to this headline">¶</a></h2>
<p>Causes the vehicle to stay idle for some time.</p>
<ul class="simple">
<li>Abbreviation: IdleManeuver</li>
<li>Identification Number: 454</li>
<li>Payload Size: 4+ bytes</li>
<li>Message Size: 26+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="20%" />
<col width="9%" />
<col width="9%" />
<col width="7%" />
<col width="42%" />
<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>Duration</td>
<td>duration</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>Optional duration of the Idle maneuver. Use ‘0’ for unlimited
duration time (maneuver will have to be explicitly stopped).</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Custom settings for maneuver</td>
<td>custom</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td>Custom settings for maneuver.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="low-level-control-maneuver">
<span id="lowlevelcontrol"></span><h2>Low Level Control Maneuver<a class="headerlink" href="#low-level-control-maneuver" title="Permalink to this headline">¶</a></h2>
<p>Low level maneuver that sends a (heading, roll, speed, …)
reference to a controller of the vehicle and then optionally
lingers for some time.</p>
<ul class="simple">
<li>Abbreviation: LowLevelControl</li>
<li>Identification Number: 455</li>
<li>Payload Size: 6+ bytes</li>
<li>Message Size: 28+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="17%" />
<col width="8%" />
<col width="7%" />
<col width="14%" />
<col width="42%" />
<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>Control</td>
<td>control</td>
<td><em>-</em></td>
<td>message
(<a class="reference internal" href="Message Format.html#controlcommand"><span class="std std-ref">Message-Group Control Command</span></a>)</td>
<td>Control command: can be of type DesiredZ, DesiredHeading,
DesiredRoll, DesiredPitch, DesiredSpeed, DesiredThrottle or DesiredPath.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Duration</td>
<td>duration</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>Duration of the control.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Custom settings for maneuver</td>
<td>custom</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td>Custom settings for maneuver.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="rows-maneuver">
<span id="rows"></span><h2>Rows Maneuver<a class="headerlink" href="#rows-maneuver" title="Permalink to this headline">¶</a></h2>
<p>Rows maneuver (i.e: lawn mower type maneuver)</p>
<ul class="simple">
<li>Abbreviation: Rows</li>
<li>Identification Number: 456</li>
<li>Payload Size: 61+ bytes</li>
<li>Message Size: 83+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="18%" />
<col width="8%" />
<col width="18%" />
<col width="7%" />
<col width="34%" />
<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>Timeout</td>
<td>timeout</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>The amount of time the maneuver is allowed to run.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Latitude WGS-84</td>
<td>lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Latitude of target waypoint.</td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-even"><td>Longitude WGS-84</td>
<td>lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Longitude of target waypoint.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>Z Reference</td>
<td>z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Maneuver reference in the z axis. Use z_units to specify
whether z represents depth, altitude or other.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Z Units</td>
<td>z_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-zunits"><span class="std std-ref">Enum Z Units</span></a>)</td>
<td>uint8_t</td>
<td>Units of the z reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Speed</td>
<td>speed</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>Maneuver speed reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Speed Units</td>
<td>speed_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-speedunits"><span class="std std-ref">Enum Speed Units</span></a>)</td>
<td>uint8_t</td>
<td>Speed units.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Bearing</td>
<td>bearing</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>Rows bearing angle.</td>
<td>min=0,
max=6.283185307179586</td>
</tr>
<tr class="row-even"><td>Cross Angle</td>
<td>cross_angle</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>Rows cross angle reference.</td>
<td>min=-1.047197551197,
max=1.047197551197</td>
</tr>
<tr class="row-odd"><td>Width</td>
<td>width</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Width of the maneuver.</td>
<td>min=0</td>
</tr>
<tr class="row-even"><td>Length</td>
<td>length</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Length of the maneuver.</td>
<td>min=0</td>
</tr>
<tr class="row-odd"><td>Horizontal Step</td>
<td>hstep</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Horizontal step.</td>
<td>min=0</td>
</tr>
<tr class="row-even"><td>Curve Offset</td>
<td>coff</td>
<td><em>m</em></td>
<td>uint8_t</td>
<td>Desired curve offset.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Alternation Parameter</td>
<td>alternation</td>
<td><em>%</em></td>
<td>uint8_t</td>
<td>Alternation parameter.</td>
<td>max=100</td>
</tr>
<tr class="row-even"><td>Flags</td>
<td>flags</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#rows-bitfield-flags"><span class="std std-ref">Bitfield Flags</span></a>)</td>
<td>uint8_t</td>
<td>Maneuver flags.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Custom settings for maneuver</td>
<td>custom</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td>Custom settings for maneuver.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="rows-bitfield-prefix-flg">
<span id="rows-bitfield-flags"></span><span id="id1"></span><h3>Bitfield Flags<a class="headerlink" href="#rows-bitfield-prefix-flg" title="Permalink to this headline">¶</a></h3>
<p>Maneuver flags.</p>
<ul class="simple">
<li>Abbreviation: flags</li>
<li>Prefix: FLG</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="15%" />
<col width="35%" />
<col width="26%" />
<col width="24%" />
</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>Square Curve</td>
<td>SQUARE_CURVE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x0002</td>
<td>First Curve Right</td>
<td>CURVE_RIGHT</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="follow-path-maneuver">
<span id="followpath"></span><h2>Follow Path Maneuver<a class="headerlink" href="#follow-path-maneuver" title="Permalink to this headline">¶</a></h2>
<p>Maneuver constituted by a list of Path Points.</p>
<ul class="simple">
<li>Abbreviation: FollowPath</li>
<li>Identification Number: 457</li>
<li>Payload Size: 32+ bytes</li>
<li>Message Size: 54+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="17%" />
<col width="8%" />
<col width="15%" />
<col width="11%" />
<col width="33%" />
<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>Timeout</td>
<td>timeout</td>
<td><em>s</em></td>
<td>uint16_t</td>
<td>The amount of time the maneuver is allowed to run.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Latitude WGS-84</td>
<td>lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Latitude of start point.</td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-even"><td>Longitude WGS-84</td>
<td>lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Longitude of start point.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>Z Reference</td>
<td>z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Maneuver reference in the z axis. Use z_units to specify
whether z represents depth, altitude or other.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Z Units</td>
<td>z_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-zunits"><span class="std std-ref">Enum Z Units</span></a>)</td>
<td>uint8_t</td>
<td>Units of the z reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Speed</td>
<td>speed</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>Maneuver speed reference.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Speed Units</td>
<td>speed_units</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="Message Format.html#enum-speedunits"><span class="std std-ref">Enum Speed Units</span></a>)</td>
<td>uint8_t</td>
<td>Speed units.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Path Points</td>
<td>points</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#pathpoint"><span class="std std-ref">Path Point</span></a>)</td>
<td>List of PathPoint messages, encoding the path points.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Custom settings for maneuver</td>
<td>custom</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td>Custom settings for maneuver.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="path-point">