From aa5d8831e0aa0cb0178444e99b3f5f6efff30efe Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 22 Oct 2021 19:34:13 +0100 Subject: [PATCH 01/57] Added new AssetReport message (fix id value). --- IMC.xml | 29 +++++++++++++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/IMC.xml b/IMC.xml index 95df30f..a203ac1 100644 --- a/IMC.xml +++ b/IMC.xml @@ -8660,6 +8660,35 @@ + + + This message is represents an Asset position / status. + + + + The human readable name of the asset. + + + + + Time in seconds since epoch, for the generation instant. + + + + + + + + + + + + + + + + + From 3ab1e574a43083ee844232e47c35217ef7181ba5 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 22 Oct 2021 19:34:50 +0100 Subject: [PATCH 02/57] Added new CurrentProfile messages. --- IMC.xml | 71 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 70 insertions(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index a203ac1..8a4e683 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11029,7 +11029,76 @@ - + + + Contains a profile of water velocities measured relative to the vehicle + velocity, represented in the specified coordinate system. + + + + Number of ADCP beams. + + + + + Number of ADCP cells. + + + + + Coordinate system of the velocity measurement. + + + + + + + + List of current profile measurement cells. + + + + + + + One Current measurement at a specific CellPosition. + + + + Distance of each measurment cell along the Z-axis in the coordintate frame. + + + + + List of beams measurements at the current cell level. + + + + + + + Measurement from one specific beam at the given CellPosition. + Water Velocity is provided in the chosen Coordinate system. + Amplitude and Correlation are always in the BEAM coordinate system. + + + + Water velocity measured in the chosen coordinate system. + + + + + Amplitude of returning ping for the beam. + + + + + Autocorrelation of returning ping for the beam. + + + + + Total Magnetic Field Intensity (TMI) From 29e30a427b22a1c7ed9228cbe38eecbf97002711 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 22 Oct 2021 19:35:33 +0100 Subject: [PATCH 03/57] Added new sensor messages. --- IMC.xml | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/IMC.xml b/IMC.xml index 8a4e683..2616d33 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11098,6 +11098,27 @@ + + + Colored Dissolved Organic Matter measurement. + + + + Colored Dissolved Organic Matter reading. + + + + + + + Fluorescent Dissolved Organic Matter measurement. + + + + Fluorescent Dissolved Organic Matter reading. + + + Total Magnetic Field Intensity (TMI) From a0b320209337684a6e334dec122c41936c836bae Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 22 Oct 2021 19:36:28 +0100 Subject: [PATCH 04/57] Added new GPIO messages. --- IMC.xml | 45 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 45 insertions(+) diff --git a/IMC.xml b/IMC.xml index 2616d33..dc4ab1f 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11098,6 +11098,51 @@ + + + Current state of a GPIO. + + + + GPIO Name. + + + + + Logical level of the GPIO. + + + + + + + Request the state of a given GPIO. The receiving entity shall reply + with a GpioState message. + + + + GPIO Name. + + + + + + + Set the state of a given GPIO. The receiving entity shall reply + with a GpioState message. + + + + GPIO Name. + + + + + Logical level of the GPIO. + + + + Colored Dissolved Organic Matter measurement. From 45a10f1814d27eee776392de42e58e00762f5b34 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 22 Oct 2021 19:37:53 +0100 Subject: [PATCH 05/57] WIP added comment out IridiumMsgTxExtended and need to reconcile messages SonarPulse and TotalMagIntensity with related with ids. --- IMC.xml | 47 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 47 insertions(+) diff --git a/IMC.xml b/IMC.xml index dc4ab1f..9f112a0 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11164,6 +11164,53 @@ + + + + + Total Magnetic Field Intensity (TMI) From 92a72ee07aaa229c6c63985762d6b21f4ef4e0c2 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 26 Oct 2021 12:21:00 +0100 Subject: [PATCH 06/57] Added new IridiumMsgTxExtended. --- IMC.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/IMC.xml b/IMC.xml index 9f112a0..8c5d9b2 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11165,7 +11165,7 @@ - + + + + Optional. Min value of the parameter + + + + + Optional. Max value of the parameter + + + + + When the parameter is a list, list_min_size indicates the minimum size of the list + + + + + When the parameter is a list, list_max_size indicates the maximum size of the list + + + + + + + + + + + + + - - - Total Magnetic Field Intensity (TMI) + + This message can be used to query/report the entities and respective parameters in the system + + + Operation to perform. + + + + + + Echoes the request_id in the request + + + Entity Label of the task that's replying to the request + + + Contains an optionally defined List of TypedEntityParameter as a response to a TypedEntityParamaters Request. From d699c81eff7990917ce3e9cfa4514b330c9252df Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 25 Feb 2022 19:16:09 +0000 Subject: [PATCH 14/57] Moved SonarPulse to id 2013. --- IMC.xml | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/IMC.xml b/IMC.xml index ca95280..157c7bb 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11373,4 +11373,30 @@ + + + + Information regarding a sent/received Sonar pulse. + + + + Frequency of the sent/received sonar pulse. + + + + + Pulse Length of the sonar pulse. + + + + + Time Delay of the sonar pulse. + + + + + Doppler shift added to the sonar pulse in retransmission + + + From 8307f8f97821dee8562eed2a52d0a7c849d63655 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 2 Mar 2022 16:26:53 +0000 Subject: [PATCH 15/57] Cleanup. --- IMC.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index 157c7bb..a528fc8 100644 --- a/IMC.xml +++ b/IMC.xml @@ -7407,7 +7407,7 @@ - + A "Sample" is a maneuver specifying a movement of the vehicle to a target waypoint. The waypoint is described by the WGS-84 From 531b466831a4381ab10eebf0a36209fd81c98fc4 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 2 Mar 2022 16:27:12 +0000 Subject: [PATCH 16/57] Cleanup. --- IMC.xml | 32 ++++++++++++++++---------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/IMC.xml b/IMC.xml index a528fc8..8b660c0 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11221,14 +11221,14 @@ - - - - - - - - + + + + + + + + @@ -11266,14 +11266,14 @@ - - + + - - - - + + + + @@ -11283,8 +11283,8 @@ Operation to perform. - - + + Echoes the request_id in the request From 785bae5aa6ec2504959e8f81c9dab9e39a7c5010 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 2 Mar 2022 16:28:26 +0000 Subject: [PATCH 17/57] Bump version to v5.5.0 and sync number to allow small id change to reconcile. --- IMC.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/IMC.xml b/IMC.xml index 8b660c0..f28ede3 100644 --- a/IMC.xml +++ b/IMC.xml @@ -10,7 +10,7 @@ xsi:noNamespaceSchemaLocation="IMC.xsd" name="IMC" long-name="Inter Module Communication" - version="5.4.30"> + version="5.5.0"> This document describes the communications protocol associated @@ -382,7 +382,7 @@ supplemental fields, it is always placed at the beginning of a packet. - + The synchronization number marks the beginning of a packet. From 73480472e45367b632ad3e83635ff2c332e1d6e1 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 2 Mar 2022 16:32:55 +0000 Subject: [PATCH 18/57] Moved StationKeepingExtended from id 496 to 720 and introduced the FollowCommand and related messages. --- IMC.xml | 222 +++++++++++++++++++++++++++++++++++++++++++++----------- 1 file changed, 179 insertions(+), 43 deletions(-) diff --git a/IMC.xml b/IMC.xml index f28ede3..d366cef 100644 --- a/IMC.xml +++ b/IMC.xml @@ -7741,77 +7741,138 @@ - + - The Station Keeping Extended 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. It extends the Station Keeping maneuver with the feature - 'Keep Safe', which allows for the vehicle to hold position underwater and popup periodically - to communicate. + This maneuver follows a direct command given by an external entity. - + - WGS-84 Latitude. + The IMC identifier of the source system that is allowed to provide command to this maneuver. + If the value ''0xFFFF'' is used, any system is allowed to command references. - + - WGS-84 Longitude. + The entity identifier of the entity that is allowed to provide commands to this maneuver. + If the value ''0xFF'' is used, any entity is allowed to command references. - + - Maneuver reference in the z axis. Use z_units to specify - whether z represents depth, altitude or other. + The ammount of time, in seconds, after which the maneuver will be terminated if no new command has + been received. In other words, the controlling entity should send command updates in shorter periods than + 'timeout'. - + + + + + This message must be sent by an external entity to provide command references to a system + running a "Follow Command Maneuver". If no Command messages are transmitted, the system + will terminate maneuver. + + + + + Command system to move at speed reference provided in "speed" field in meters per second. + + + + + Command system to move at speed reference provided in "speed" field in revolutions per minute. + + + + + Command system to move at z reference provided in "z" field in depth. + + + + + Command system to move at z reference provided in "z" field in altitude. + + + + + Command system to move at a heading reference provided in "heading" field in radians. + + + + + Command system to move at a heading rate reference provided in "heading" field in radians/s. + + + + + Command system to exit maneuver's execution. + + + + - Units of the z reference. + The value of the desired speed, in the scale specified by the + "flags" field. - - Radius. - - - Duration (0 for unlimited). - - + - The value of the desired speed, in the scale specified - by the "Speed Units" field. + The value of the desired z reference in meters. - - Indicates the units used for the speed value. - - + - The period at which the vehicle will popup to report its position. - Only used if flag KEEP_SAFE is on. + The value of the desired heading angle, relative to true north, in radians, + or, the value of the desired heading rate angle, in radians. - + + + + - The duration of the station keeping at surface level when it pops up. - Only used if flag KEEP_SAFE is on. + The IMC identifier of the source system that is allowed to control the vehicle. + If the value ''0xFFFF'' is used, any system is allowed to command references. - + - Flags of the maneuver. + The entity identifier of the entity that is allowed to control the vehicle. + If the value ''0xFF'' is used, any entity is allowed to command references. - - - If this flag is set, the vehicle will hold position underwater, loitering at z reference. - It will popup periodically to report position. When it pops up, it will stay at surface in "normal" station keeping behaviour for a certain time (popup_duration). - - - + + Command currently being followed. + + - Custom settings for maneuver. + Current state of execution. + + + System is waiting for first command. + + + + + System is moving according with command provided. + + + + + System is stopped. Speed reference is zero. + + + + + Command provided breaks system's physical limitations. + + + + + Maneuver will be terminated since timeout was exceeded. + + @@ -9747,6 +9808,81 @@ + + + + The Station Keeping Extended 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. It extends the Station Keeping maneuver with the feature + 'Keep Safe', which allows for the vehicle to hold position underwater and popup periodically + to communicate. + + + + WGS-84 Latitude. + + + + + WGS-84 Longitude. + + + + + Maneuver reference in the z axis. Use z_units to specify + whether z represents depth, altitude or other. + + + + + Units of the z reference. + + + + Radius. + + + Duration (0 for unlimited). + + + + The value of the desired speed, in the scale specified + by the "Speed Units" field. + + + + Indicates the units used for the speed value. + + + + The period at which the vehicle will popup to report its position. + Only used if flag KEEP_SAFE is on. + + + + + The duration of the station keeping at surface level when it pops up. + Only used if flag KEEP_SAFE is on. + + + + + Flags of the maneuver. + + + + If this flag is set, the vehicle will hold position underwater, loitering at z reference. + It will popup periodically to report position. When it pops up, it will stay at surface in "normal" station keeping behaviour for a certain time (popup_duration). + + + + + + Custom settings for maneuver. + + + + State summary for a remote vehicle. From 785f31bf19ab2d04890cd8b1f87979b1d66d3625 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 2 Mar 2022 16:37:01 +0000 Subject: [PATCH 19/57] Cleanup Command and FollowCommandState. --- IMC.xml | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/IMC.xml b/IMC.xml index d366cef..18cd661 100644 --- a/IMC.xml +++ b/IMC.xml @@ -7773,37 +7773,37 @@ will terminate maneuver. - + Command system to move at speed reference provided in "speed" field in meters per second. - + Command system to move at speed reference provided in "speed" field in revolutions per minute. - + Command system to move at z reference provided in "z" field in depth. - + Command system to move at z reference provided in "z" field in altitude. - + Command system to move at a heading reference provided in "heading" field in radians. - + Command system to move at a heading rate reference provided in "heading" field in radians/s. - + Command system to exit maneuver's execution. @@ -7848,27 +7848,27 @@ Current state of execution. - + System is waiting for first command. - + System is moving according with command provided. - + System is stopped. Speed reference is zero. - + Command provided breaks system's physical limitations. - + Maneuver will be terminated since timeout was exceeded. From 4771660fe2b0e14872246419e06de855d271788e Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 15 Mar 2022 15:50:54 +0000 Subject: [PATCH 20/57] Re-added false deletion in merge ManeuverDone but need to move from 497 to 719. --- IMC.xml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/IMC.xml b/IMC.xml index 18cd661..adf1189 100644 --- a/IMC.xml +++ b/IMC.xml @@ -9809,6 +9809,12 @@ + + + Notification of completion of a maneuver (optional use). + + + The Station Keeping Extended maneuver makes the vehicle come to the surface From 94f0a50eb4906d34cb1f276b655ff40367d18f73 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 23 Jun 2022 16:53:36 +0100 Subject: [PATCH 21/57] Introduced WIP ChargingState. --- IMC.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/IMC.xml b/IMC.xml index adf1189..5667040 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11172,6 +11172,13 @@ + + Reports if the vehicle is charging or not + + 0 - Not charging; 1 - charging + + + Contains a profile of water velocities measured relative to the vehicle From fedca688655fd253da1a743252d07aed1712a26f Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 27 Jun 2022 09:45:34 +0100 Subject: [PATCH 22/57] ChargingState: Defined the charging states as an enumeration. --- IMC.xml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/IMC.xml b/IMC.xml index 5667040..188bd8b 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11174,8 +11174,9 @@ Reports if the vehicle is charging or not - - 0 - Not charging; 1 - charging + + + From f9e2ab6f25c010377cf30e9ac91843f60d4443fe Mon Sep 17 00:00:00 2001 From: Renato Campos Date: Thu, 2 Mar 2023 16:32:12 +0000 Subject: [PATCH 23/57] IMC.xml: adds HealthCheck msg --- IMC.xml | 37 +++++++++++++++++++++++++++++++++++++ 1 file changed, 37 insertions(+) diff --git a/IMC.xml b/IMC.xml index 188bd8b..24834d2 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11549,4 +11549,41 @@ + + Used to request/reply a health check of a system + + + Operation to perform. OP.REQUEST should start the HealthCheck. + Use OP.REPLY to report the progress. + OP.QUERY asks if the task implements health checking. + Upon receiving OP.Query, reply with OP.REPLY and STATUS.IMP or STATUS.NOT_IMP. + + + + + + + Echoes the request_id in the request + + + Entity Label of the task that's replying to the request + + + Health status of the entity + + + + + + + + + + + + + + Textual description of the health status + + From 5c68055d384a13e6d147000164f206e451f7b0e1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Pinto?= Date: Wed, 26 Jul 2023 09:56:28 +0100 Subject: [PATCH 24/57] Adding DirSonarData (2019) message. --- IMC.xml | 42 +++++++++++++++++++++++++++++++++++++++++- 1 file changed, 41 insertions(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index 24834d2..c5a8f5b 100644 --- a/IMC.xml +++ b/IMC.xml @@ -3284,7 +3284,7 @@ - Location of a specific device in the system infrastructure. + Location of a specific device in the system's body frame. @@ -11586,4 +11586,44 @@ Textual description of the health status + + + This message contains the data acquired by a single sonar measurement whose angle can be controlled. + + + + Pose of this sonar measurement, in relation to the body frame. + + + + + Configuration of the sonar beam. + + + + + Operating frequency. + + + + + Minimum range. + + + + + Maximum range. + + + + + Size of the data unit. (Should be multiple of 8) + + + + + Data acquired by the measurement. + + + From d153faa81c0b3afe9c3dfd4ddb71ef1fe08b9338 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Pinto?= Date: Wed, 26 Jul 2023 10:15:55 +0100 Subject: [PATCH 25/57] DirectionSonalData now contains an inline SonarData message. --- IMC.xml | 28 ++-------------------------- 1 file changed, 2 insertions(+), 26 deletions(-) diff --git a/IMC.xml b/IMC.xml index c5a8f5b..d20dd0c 100644 --- a/IMC.xml +++ b/IMC.xml @@ -3104,6 +3104,7 @@ + @@ -11595,32 +11596,7 @@ Pose of this sonar measurement, in relation to the body frame. - - - Configuration of the sonar beam. - - - - - Operating frequency. - - - - - Minimum range. - - - - - Maximum range. - - - - - Size of the data unit. (Should be multiple of 8) - - - + Data acquired by the measurement. From 7b503e48398321faf911984bdc583fd174332e75 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Pinto?= Date: Wed, 26 Jul 2023 10:21:11 +0100 Subject: [PATCH 26/57] Adding messages required for requesting entity parameters from vehicles. --- IMC.xml | 110 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 110 insertions(+) diff --git a/IMC.xml b/IMC.xml index d20dd0c..e4eeaf9 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11587,6 +11587,116 @@ Textual description of the health status + + + This message can be used to query/report the entities and respective parameters in the system + + + Operation to perform. + + + + + + Echoes the request_id in the request + + + Entity Label of the task that's replying to the request + + + Contains an optionally defined List of TypedEntityParameter as a response to a TypedEntityParamaters Request. + + + + + + Entity parameter with all the data that defines an entity parameter. + + + + Name of the parameter. + + + + + + + + + + + + + + + Default value of the parameter. + + + + + The units of the field, if applicable + + + + + Description of the parameter + + + + + Comma-separated list of possible values + + + + + Optional. Min value of the parameter + + + + + Optional. Max value of the parameter + + + + + When the parameter is a list, list_min_size indicates the minimum size of the list + + + + + When the parameter is a list, list_max_size indicates the maximum size of the list + + + + + A list of ValuesIf messages + + + + + + + + + + + + + + + + This message is used to describe the ValuesIf content of a TypedEntityParameter. + + Name of parameter to compare + + + Value to compare + + + List of possible values if param=value + + + This message contains the data acquired by a single sonar measurement whose angle can be controlled. From 4e7abde4ddb483705982bb7f9a676bdf010ffdc7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Pinto?= Date: Wed, 31 Jan 2024 12:19:05 +0000 Subject: [PATCH 27/57] EntityList: Added RELOAD operation. --- IMC.xml | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index e4eeaf9..697340c 100644 --- a/IMC.xml +++ b/IMC.xml @@ -569,7 +569,17 @@ Operation to perform. - + + Report the entity list. + + + + Request the entity list. + + + + Reload the entity list. + @@ -11712,4 +11722,5 @@ + From 50a240d8a75c2c3805d5d17c160169f40b797715 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Pinto?= Date: Wed, 31 Jan 2024 12:19:21 +0000 Subject: [PATCH 28/57] ManeuverResumed: Added message. --- IMC.xml | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/IMC.xml b/IMC.xml index 697340c..41ad1d4 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11723,4 +11723,20 @@ + + + This message is sent when a maneuver is stoped, describing how it could be resumed to completion later. + + + + ID of the maneuver that was stopped. + + + + + List of maneuvers that can be executed to resume the stopped maneuver. + + + + From 5a3f10921343adf43c79431f9dcfec90a4c66ad2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Pinto?= Date: Wed, 31 Jan 2024 13:56:08 +0000 Subject: [PATCH 29/57] EntityList: Fixed syntax. --- IMC.xml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index 41ad1d4..26a748b 100644 --- a/IMC.xml +++ b/IMC.xml @@ -568,18 +568,21 @@ Operation to perform. - + Report the entity list. + Request the entity list. + Reload the entity list. + From ac84bba023378e3d2b9b87b0bb2cf597e36c71d3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Pinto?= Date: Wed, 31 Jan 2024 17:27:12 +0000 Subject: [PATCH 30/57] IMC.xml: Added VersionInfo message. --- IMC.xml | 31 +++++++++++++++++++++++++++++++ 1 file changed, 31 insertions(+) diff --git a/IMC.xml b/IMC.xml index 26a748b..d40b9c9 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11742,4 +11742,35 @@ + + + This message is used to query / report version information related to an entity. + + + + Operation to perform. + + + + Report the entity list. + + + + + Request the entity list. + + + + + + Version of the entity. + + + + + Description of the entity. + + + + From bf6ffee5cb00733aacaa98575a0045bf83f3e226 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Pinto?= Date: Mon, 5 Feb 2024 17:49:39 +0000 Subject: [PATCH 31/57] Removed duplicate messages. --- IMC.xml | 86 --------------------------------------------------------- 1 file changed, 86 deletions(-) diff --git a/IMC.xml b/IMC.xml index d40b9c9..69d3d45 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11375,92 +11375,6 @@ - - - Entity parameter with all the data that defines an entity parameter. - - - - Name of the parameter. - - - - - - - - - - - - - - - Default value of the parameter. - - - - - The units of the field, if applicable - - - - - Description of the parameter - - - - - Optional. Min value of the parameter - - - - - Optional. Max value of the parameter - - - - - When the parameter is a list, list_min_size indicates the minimum size of the list - - - - - When the parameter is a list, list_max_size indicates the maximum size of the list - - - - - - - - - - - - - - - - This message can be used to query/report the entities and respective parameters in the system - - - Operation to perform. - - - - - - Echoes the request_id in the request - - - Entity Label of the task that's replying to the request - - - Contains an optionally defined List of TypedEntityParameter as a response to a TypedEntityParamaters Request. - - - This message is used to restrict the vehicle from using some communication means. From 1dedae45538e7ef4715d8c99d933057b5645f530 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Pinto?= Date: Mon, 12 Feb 2024 14:57:28 +0000 Subject: [PATCH 32/57] Extends IMC::Pulse with origin_timestamp. --- IMC.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/IMC.xml b/IMC.xml index 69d3d45..7c6df1d 100644 --- a/IMC.xml +++ b/IMC.xml @@ -3161,6 +3161,13 @@ Hardware pulse detection. + + + The time at which the pulse was dispatched from the original source. + Represented in Universal Coordinated Time (UCT) in seconds since Jan 1, 1970 using IEEE + double precision floating point numbers. + + From ef7265ab77b05b9889f9beadf1a280f7ac40581c Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 11 Nov 2024 11:35:30 +0000 Subject: [PATCH 33/57] Updated gitignore. --- .gitignore | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.gitignore b/.gitignore index 5ebaf81..061406f 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,10 @@ *.py[cod] .project doc/reference +doc/generate2.py + .idea +.vscode + +IMC-* +*.orig From 33c62a0c7b3b2f521e316e9df65d89508aa3ca56 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 5 Jul 2024 14:27:38 +0100 Subject: [PATCH 34/57] Added to CurrentProfile on the Coordinate System enumeration, the ENU (east, north, up). --- IMC.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/IMC.xml b/IMC.xml index 7c6df1d..dfe2f20 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11222,6 +11222,7 @@ + From 104c80b53222590f0d79ae7fb9666e6d980f4206 Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Wed, 30 Oct 2024 03:41:27 +0000 Subject: [PATCH 35/57] IMC: Extende Vertical Profile parameter enum . --- IMC.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/IMC.xml b/IMC.xml index dfe2f20..8e15cb8 100644 --- a/IMC.xml +++ b/IMC.xml @@ -1394,6 +1394,7 @@ + From 24e744b00a67df8f37b79dc98d1a71fc0b8be75c Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 11 Nov 2024 11:26:28 +0000 Subject: [PATCH 36/57] Fix long stand issue on Vertical Profile lat/lon units. Setting them to deg. --- IMC.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/IMC.xml b/IMC.xml index 8e15cb8..c575751 100644 --- a/IMC.xml +++ b/IMC.xml @@ -1398,12 +1398,12 @@ - + Latitude where the profile was calculated. - + Longitude where the profile was calculated. From 08d26f1e21e57dcece593b83b048dd7b30bc8614 Mon Sep 17 00:00:00 2001 From: Bernardo-Gabriel Date: Mon, 21 Oct 2024 12:07:57 +0100 Subject: [PATCH 37/57] AcousticStatus: added invalid address status and fix unsupported value. --- IMC.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index c575751..f8f6d4c 100644 --- a/IMC.xml +++ b/IMC.xml @@ -2397,7 +2397,8 @@ - + + Status description. From a2fa0823fadb3949773b7aeaaed35fbadf3f9e08 Mon Sep 17 00:00:00 2001 From: Bernardo-Gabriel Date: Mon, 21 Oct 2024 13:21:09 +0100 Subject: [PATCH 38/57] TransmissionStatus: added invalid address status. --- IMC.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/IMC.xml b/IMC.xml index f8f6d4c..9dbcc2b 100644 --- a/IMC.xml +++ b/IMC.xml @@ -8628,6 +8628,7 @@ + From e2fdaf35d04e956ffa92e288423447aeb3230207 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 19 Oct 2023 16:42:13 +0100 Subject: [PATCH 39/57] Add new operation to RemoteActionsRequest to allow registration of actions (internal to a system. --- IMC.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/IMC.xml b/IMC.xml index 9dbcc2b..f9a2e6e 100644 --- a/IMC.xml +++ b/IMC.xml @@ -3767,6 +3767,13 @@ + + + This will serve as a registration of an additional action. + It should be used by an internal system entity to register an action to a central + registration. This way only one will responde to a QUERY request. + + From 18954020d0626bdab45534f296b1e0f39e9b8c92 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 13 Nov 2024 15:33:16 +0000 Subject: [PATCH 40/57] Sync with master descriptions. --- IMC.xml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/IMC.xml b/IMC.xml index f9a2e6e..ba7e0df 100644 --- a/IMC.xml +++ b/IMC.xml @@ -3076,9 +3076,9 @@ +--------+------------------+-----+ | Section| Flag Label | Bit | +========+==================+=====+ - | H4.1 | Intensities flag | 0 | + | H3.1 | Intensities flag | 0 | +--------+------------------+-----+ - | H4.2 | Angle step flag | 1 | + | H3.2 | Angle step flag | 1 | +--------+------------------+-----+ .. figure:: ../images/imc_multibeam.png @@ -3091,8 +3091,8 @@ angle[i] = H2_start_angle + (32-bit sum of D1_angle_step[0] through D1_angle_step[i]) * H4_scaling_factor - * If bit H4.1 is not set then sections H5 and D3 won't exist. - * If bit H4.2 is not set then sections H4 and D1 won't exist. In case this bit is set, then the angle steps is read from field "Beam Width" from "Beam Configuration". + * If bit H3.1 is not set then sections H5 and D3 won't exist. + * If bit H3.2 is not set then sections H4 and D1 won't exist. In case this bit is set, then the angle steps is read from field "Beam Width" from "Beam Configuration". * The type *uintX_t* will depend on the number of bits per unit, and it should be a multiple of 8. * Furthermore, for now, 32 bits is the highest value of bits per unit supported. From e3bd543407245294db79628408dcaaec45fff4f4 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 13 Nov 2024 15:33:29 +0000 Subject: [PATCH 41/57] Sync with master descriptions. --- IMC.xml | 58 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 57 insertions(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index ba7e0df..ae72610 100644 --- a/IMC.xml +++ b/IMC.xml @@ -3760,6 +3760,62 @@ returning the tuplelist with the pairs: Action,Type (operation=REPORT). The type of action can be Axis, Hat or Button. + + Verbs to use: + + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Verb | Type | LAUV Use | Verb alternatives | Notes | + +===============+==============+==========+============================================+=======================================+ + | Accelerate | Button | yes | | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Arm | Button | | | Should use ArmState message for state | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Decelerate | Button | yes | | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Disarm | Button | | | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Exit | Button | yes | | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Heading | Axis | yes | Yaw, Rotate, Turning | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Lateral | Axis | | Sway, Sideways | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Pitch | Axis | | | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Roll | Axis | | Bank | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Stop | Button | yes | | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Thrust | Axis | yes | Surge, Forward, Throtle | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | Vertical | Axis | | Heave, Up, Ascende, VerticalRate, Depth, Z | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + | * | (type) | | | | + +---------------+--------------+----------+--------------------------------------------+---------------------------------------+ + + + Special actions for configuration: + + +---------------+-------------------+----------------------------------------------------+ + | Verb | Special Type | Notes | + +===============+===================+====================================================+ + | Ranges | Decimal, Range127 | Decimal [-1.0; 1.0], Range127[-127; 127] (default) | + +---------------+-------------------+----------------------------------------------------+ + + Types: + + +-------------------+------------------------------------------------------+ + | Type | Note | + +===================+======================================================+ + | Axis | Axis like (full range) | + +-------------------+------------------------------------------------------+ + | Button | A button (0 for release, 1 for press) | + +-------------------+------------------------------------------------------+ + | Slider | Slider like (full range) | + +-------------------+------------------------------------------------------+ + | HalfSlider | Slider like, but only the positive half of the range | + +-------------------+------------------------------------------------------+ + @@ -3777,7 +3833,7 @@ - Example: "Propulsion=Axis,PanTilt=Hat,Lights=Button" + Example: "Propulsion:Axis,Lights:Button" From bfd955d41b012007e9bc513b880b7994ef2fec33 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 13 Nov 2024 15:33:34 +0000 Subject: [PATCH 42/57] Sync with master descriptions. --- IMC.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index ae72610..4553de6 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11747,7 +11747,7 @@ Request the entity list. - + From 58a1e27452e5a3a409d30f7fb96fef8138b9fe4c Mon Sep 17 00:00:00 2001 From: Ruben Silva Date: Wed, 4 Sep 2024 09:57:48 +0100 Subject: [PATCH 43/57] Added special type in RemoteActionsRequest to lock (protect in the gui) actions. # Conflicts: # IMC.xml --- IMC.xml | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index 4553de6..416e88c 100644 --- a/IMC.xml +++ b/IMC.xml @@ -3802,6 +3802,7 @@ | Ranges | Decimal, Range127 | Decimal [-1.0; 1.0], Range127[-127; 127] (default) | +---------------+-------------------+----------------------------------------------------+ + Types: +-------------------+------------------------------------------------------+ @@ -3816,6 +3817,13 @@ | HalfSlider | Slider like, but only the positive half of the range | +-------------------+------------------------------------------------------+ + Special Types: + +--------------+----------------------------------------------------+ + | Special Type | Notes | + +==============+===================================================== + | Lock | Specify a Verb to be "locked" | + +--------------+----------------------------------------------------+ + @@ -3833,7 +3841,7 @@ - Example: "Propulsion:Axis,Lights:Button" + Example: "Propulsion:Axis,Lights:Button,Lights:Lock" From 8cd6fb2c0aba85cdd064fffcf7fb2a7d63d077eb Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 22 Nov 2024 16:27:38 +0000 Subject: [PATCH 44/57] Fix remote actions description visual issue with lock table. --- IMC.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/IMC.xml b/IMC.xml index 416e88c..e65009c 100644 --- a/IMC.xml +++ b/IMC.xml @@ -3818,6 +3818,7 @@ +-------------------+------------------------------------------------------+ Special Types: + +--------------+----------------------------------------------------+ | Special Type | Notes | +==============+===================================================== From b651c469486c4a5d39fc33b21a2747dbb4e0f3b3 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Sat, 23 Nov 2024 10:35:09 +0000 Subject: [PATCH 45/57] Refix remote actions description visual issue with lock table. --- IMC.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index e65009c..b177c36 100644 --- a/IMC.xml +++ b/IMC.xml @@ -3821,7 +3821,7 @@ +--------------+----------------------------------------------------+ | Special Type | Notes | - +==============+===================================================== + +==============+====================================================+ | Lock | Specify a Verb to be "locked" | +--------------+----------------------------------------------------+ From 4ad678f2f092970bde3db4afbd88ec8b0ee4198c Mon Sep 17 00:00:00 2001 From: Jose Pinto Date: Fri, 24 Jan 2025 09:41:36 +0000 Subject: [PATCH 46/57] Add Total Heading message to report cumulative heading value. --- IMC.xml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/IMC.xml b/IMC.xml index b177c36..c9f6ecd 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11770,4 +11770,14 @@ + + + This message is used to report the cumulative heading value. + + + + Cumulative heading value, in radians. + + + From 614ad3d82466d5fe3fabc2d5272495d827064bdd Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 24 Jan 2025 11:21:06 +0000 Subject: [PATCH 47/57] Fix example on the RemoteActionsRequest (fix for proper tuple list format). --- IMC.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index c9f6ecd..8c5f4ee 100644 --- a/IMC.xml +++ b/IMC.xml @@ -3842,7 +3842,7 @@ - Example: "Propulsion:Axis,Lights:Button,Lights:Lock" + Example: "Propulsion=Axis,Lights=Button,Lights=Lock" From 40b0ff1d5459a67a757a90507c8d3b68616b6f3d Mon Sep 17 00:00:00 2001 From: Luis Venancio Date: Wed, 5 Feb 2025 17:09:31 +0000 Subject: [PATCH 48/57] Fixed unit type. --- IMC.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index 8c5f4ee..d970d83 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11774,7 +11774,7 @@ This message is used to report the cumulative heading value. - + Cumulative heading value, in radians. From 680d5315c7347efb26bdce37fe872f87b82564c4 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 19 Feb 2025 13:01:50 +0000 Subject: [PATCH 49/57] Added new unit. --- IMC.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/IMC.xml b/IMC.xml index d970d83..5c93037 100644 --- a/IMC.xml +++ b/IMC.xml @@ -193,6 +193,7 @@ + From 4b5dc1520f03fa4ae02d01a63a3002ed0741047e Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 19 Feb 2025 13:06:26 +0000 Subject: [PATCH 50/57] Added new RAM Usage message. --- IMC.xml | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/IMC.xml b/IMC.xml index 5c93037..958c03e 100644 --- a/IMC.xml +++ b/IMC.xml @@ -892,6 +892,17 @@ + + + Report of software RAM usage. + + + + The RAM usage, in KiB, of the sending software. + + + + From 682f445f47e53689c40e8dece710ad372091feef Mon Sep 17 00:00:00 2001 From: Jose Pinto Date: Tue, 8 Apr 2025 15:37:26 +0100 Subject: [PATCH 51/57] IMC.xml: Added UamJanusPacket message. --- IMC.xml | 105 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 105 insertions(+) diff --git a/IMC.xml b/IMC.xml index 958c03e..256c192 100644 --- a/IMC.xml +++ b/IMC.xml @@ -10399,6 +10399,109 @@ + + + This message is used to send and receive Janus packets over the acoustic channel, agnostic of underlying modem. + + + + + A sequence identifier that should be incremented for each + request. This number will then be used to issue transmission + status updates via the message UamTxStatus. + + + + + + Operation on the Janus packet. + + + + + + + + + + + + + Janus baseline packet flags. + + + + Indicates that the nature of the transmitting platform is mobile. + + + + + Repeat interval, as specified in the time field. + + + + + Reservation time as specified in the time field. + + + + + Indicates the decode capability of the transmitting platform. + + + + + Indicates the forwarding capability of the transmitting platform. + + + + + + + Time of the packet, in seconds. To be interpreted according to the flags. + If the REPEAT_INTERVAL flag is set, this field indicates the time interval + between packets. If the RESERVATION_TIME flag is set, sthis field indicates + the time for the reservation. + + + + + + Class user id. + + + + + + Application type. + + + + + + The Application Data Block corresponding to the baseline packet. + + + + + + Human-readable error message. + + + + + + Length of Janus cargo. + + + + + + Janus cargo, sent after the baseline packet. + + + + Formation controller paramenters, as: trajectory gains, control boundary layer thickness, and formation shape gains. @@ -11792,4 +11895,6 @@ + + From c46e64445e493add35b5a10fa9e93f638a1d69f2 Mon Sep 17 00:00:00 2001 From: Jose Pinto Date: Fri, 18 Jul 2025 14:07:16 +0100 Subject: [PATCH 52/57] ADCPBeam: Removed redundant lower limit. --- IMC.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index 256c192..d75a5c6 100644 --- a/IMC.xml +++ b/IMC.xml @@ -11454,7 +11454,7 @@ Amplitude of returning ping for the beam. - + Autocorrelation of returning ping for the beam. From b5188e990e2777991e7a92712c7454dac9c08987 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 5 Aug 2025 11:35:48 +0100 Subject: [PATCH 53/57] Added enum value MSG_FRAGMENT to Acoustic Operation. --- IMC.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/IMC.xml b/IMC.xml index d75a5c6..0b46ff1 100644 --- a/IMC.xml +++ b/IMC.xml @@ -2282,6 +2282,13 @@ as "transducer not connected". + + + Request to fragment message over acoustic channel. The message to send + is specified by the 'msg' field. Size of fragment is specified in the + 'range' field. + + From efba57fce94533f6be01bb2cb8fc797e251e628f Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Sun, 10 Aug 2025 14:27:22 +0100 Subject: [PATCH 54/57] Sync with master. Pulse has a new field timestamp. StationKeepingExtended change id from 496 to 720. ManeuverDone change id from 497 to 719. New in unify: ChargingState IridiumMsgTxExtended 2005 (new field ttl ValidatePlan 2007 WifiStats 2011 WifiNetwork 2012 SonarPulse 2013 HealthCheck 2015 DirSonarData 2019 ManeuverResumed 2020 --- IMC.xml | 351 ++++++++++++++++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 342 insertions(+), 9 deletions(-) diff --git a/IMC.xml b/IMC.xml index 0b46ff1..d6ed8f0 100644 --- a/IMC.xml +++ b/IMC.xml @@ -1,7 +1,7 @@ @@ -2987,7 +3021,7 @@ - Measurement of wind speed. + Measurement of relative wind speed. (Meaning without correcting for vehicle effects). @@ -10754,12 +10788,54 @@ + + This message is used to send a fragment of a message. The + fragments are sent in order, and the receiver must reassemble + them in the correct order. + The receiver can use the MessagePartControl message to inform the sender + of the status of the fragment transmission. + + + + This message is used by the receiver of MessageParts messages + to inform the sender of the status of the reception of a message + in fragments. + The sender can then use this information to determine which + fragments were received and which ones were not. + This message is sent in response to a MessagePart message. + + + + + + The status of the fragment transmission was received. + + + + + The sender is requesting retransmission of the fragments. + + + + + + Comma-separated list of fragment numbers. Example: "1,2,3". + This field is used to inform the sender of the fragments that + should be considered. If this field starts with '!', it means + that the indicated fragments should not be considered. Example: + "!1,2,3" means that all fragments should be considered except + 1,2,3. With this field equal to only "!" it means that all + fragments must be considered. + + + + @@ -11389,7 +11465,7 @@ - + Reports if the vehicle is charging or not @@ -11398,6 +11474,115 @@ + + + Measurement of absolute wind speed (Meaning without vehicle effects). + + + + Direction of the measured wind speed. + + + + + The value of the wind speed as measured by the sensor. + + + + + Wind turbulence intensity. + + + + + + + Message containing static or dynamic AIS data received onboard the vehicle. + + + + Integer indicating the message type: 1,2,3,5, ... + + + + + The class of a sensor tells the type of sensor originating this message. It will determine how the sensor is to be shown and (optionally) how the custom data (tuplelist) is to be interpreted. + + + + + An unique string that identifies the sensor/vessel. + + + + + + + + + + + + + Distance to own vehicle. + + + + + Size of the vehicle (length = A + B, width = C + D) + + + + + + + + + + + Contains information as extracted from a digital S-57 chart. + This can be: location of static objects (buoys, beacons, etc), location and depth of depth contours, + location and depth of any other location contained in the chart. + For reference see Supervisors/Grounding. + + + + Example: "lat=63.46869;lon=10.37790;d=-10" + + + + + Example: "lat=63.46869;lon=10.37790" + + + + + + + Component of incremetal position vector over a period of time. + + + + The device time. + + + + + X component. + + + + + Y component. + + + + + Z component. + + + + Contains a profile of water velocities measured relative to the vehicle @@ -11419,8 +11604,8 @@ - + @@ -11461,13 +11646,162 @@ Amplitude of returning ping for the beam. - + Autocorrelation of returning ping for the beam. + + + + Frequency value. + + + + + + + This message reports various parameters related to ocean wave characteristics, including height, direction, and period. + + + + The average height of the highest one-third of waves in a wave spectrum, representing overall sea state. + + + + + The dominant direction from which waves are propagating at their peak energy level. + + + + + The time interval between successive wave crests at the peak energy level. + + + + + The significant wave height generated by wind-driven waves. + + + + + The significant wave height attributed to long-period swells. + + + + + The dominant period of wind-generated waves. + + + + + The dominant period of long-period swells. + + + + + The primary direction of wind-generated waves. + + + + + The primary direction of swell waves. + + + + + The average direction of all waves in the wave spectrum. + + + + + The mean period of ocean waves based on the spectral moment calculation. + + + + + The maximum wave height observed in a given period. + + + + + The height of the highest point of a wave above the mean water level. + + + + + The depth of the lowest point of a wave below the mean water level. + + + + + The longest observed wave period within a given time frame. + + + + + The mean zero-crossing period of waves, an indicator of average wave duration. + + + + + The mean height of the highest one-third of measured waves, commonly used to describe sea conditions. + + + + + The average angular dispersion of wave energy across different directions. + + + + + The first-order measure of directional wave spreading. + + + + + A parameter indicating the degree to which waves are long-crested or short-crested. + + + + + The vessel’s orientation relative to true north. + + + + + The angular motion of the vessel along its transverse axis. + + + + + The angular motion of the vessel along its longitudinal axis. + + + + + The heading measurement obtained from an external source, such as a GPS compass. + + + + + The standard deviation of heading measurements, indicating heading stability. + + + + + The standard deviation of pitch measurements, indicating variability in vessel movement. + + + + + The standard deviation of roll measurements, indicating fluctuations in vessel roll motion. + + + + Current state of a GPIO. @@ -11682,6 +12016,7 @@ + Used to request/reply a health check of a system @@ -11902,6 +12237,4 @@ - - From f73bc347f2d148f6529a711741163ca724dab15d Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Sun, 10 Aug 2025 14:49:05 +0100 Subject: [PATCH 55/57] Sync for unify (new msgs added. --- IMC.xml | 326 +++++++++++++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 325 insertions(+), 1 deletion(-) diff --git a/IMC.xml b/IMC.xml index d6ed8f0..be13826 100644 --- a/IMC.xml +++ b/IMC.xml @@ -214,6 +214,7 @@ + @@ -304,6 +305,7 @@ + @@ -333,6 +335,7 @@ + @@ -2124,6 +2127,102 @@ + + + Position and configuration of an LBL transponder (beacon). The LBL transponder may be fixed or mobile, depending on TTL value. + + + + Name/Label of the acoustic transponder. + + + + + WGS-84 Latitude coordinate. + + + + + WGS-84 Longitude coordinate. + + + + + The beacon's depth. + + + + + Interrogation channel. + + + + + Reply channel. + + + + + Transponder delay. + + + + + Epoch time of this beacon configuration. For *ttl* seconds after this instant, position is estimated + to vary according to *vx*, *vy* and *vz*. + + + + + Defines if LBL Beacon is fixed or mobile. If set to 0, LBL Beacon is fixed. Otherwise, it's the time, + in seconds, that the current position is considered valid. + + + + + For mobile LBL Beacons. Ground Velocity xx axis velocity component. + + + + + For mobile LBL Beacons. Ground Velocity yy axis velocity component. + + + + + For mobile LBL Beacons. Ground Velocity zz axis velocity component. + + + + + + + Long Base Line configuration. + + + + Used to define the type of the operation this message holds. + + + Set the beacons configuration aboard the vehicle. + + + Request the vehicle to send its current beacons configuration. + + + Reply from vehicle with its current beacons configuration. + + + Update the beacons position aboard the vehicle. + + + + + A list of LBL Beacon Configuration Extended messages. + + + + Send an acoustic message. @@ -11646,7 +11745,7 @@ Amplitude of returning ping for the beam. - + Autocorrelation of returning ping for the beam. @@ -11802,6 +11901,48 @@ + + + Report a sample stored to disk. + + + + Type of event. + + + + + + + + + File name this event is related to. + + + + + + Request to check gsm credit + + + + + Signals that an object has been detected by any of the vehicle's sensors + + + + + + + Type of event. + + + + + + + + Current state of a GPIO. @@ -12237,4 +12378,187 @@ + + + + This message is used to report the number of satellites in view per constellation. The constellation should be provided by the Entity label. + + + + Number of satellites in view. + + + + + + GNSS debug information + + + Probability of jamming, provided by the GNSS jamming indicator + + + + + Jamming Status + + + Jamming/interference monitor not enabled, uninitializedor antenna disconnected + + + + no interference detected + + + position ok but interference is visible (above thethresholds) + + + no reliable position fix and interference is visible (above the thresholds); interference is probable reason why there is no fix + + + + RF noise level as seen by the GNSS core + + + Status of the antenna + + Initializing + + + Unknown + + + OK + + + Short + + + Open + + + + Status of the antenna power + + Antenna powered off + + + Antenna powered on + + + Antenna state unknown + + + + + + Logs the commanded pulse width for motors or servos. + Use the entity label to identify the channel. + + + + The commanded pulse width in microseconds. + + + + + + + Report of specific conductance. + + + + The value of the specific conductance (temperature compensated conductivity). + + + + + + + Ammonia (NH3) measurement. + + + + Ammonia (NH3) reading. + + + + + + + Ammonium (NH4) measurement. + + + + Ammonium (NH4) reading. + + + + + + + Nitrate (NO3) measurement. + + + + Nitrate (NO3) reading. + + + + + + + Nitrate-N (NO3-N) measurement. + + + + Nitrate-N (NO3-N) reading. + + + + + + + Chloride measurement. + + + + Chloride reading. + + + + + + + Total Dissolved Solids measurement. + + + + Total Dissolved Solids reading. + + + + + + + Total Suspended Solids measurement. + + + + Total Suspended Solids reading. + + + + + + + Non-linear Function Conductivity (nLF). + + + + The value of the non-linear function conductivity. + + + + From 2cc9fda6ecd0c31d9980b393679a818e7ecfa673 Mon Sep 17 00:00:00 2001 From: Jose Pinto Date: Sat, 6 Dec 2025 13:15:40 +0000 Subject: [PATCH 56/57] Added ImageSnippet message. --- IMC.xml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/IMC.xml b/IMC.xml index be13826..79c30f4 100644 --- a/IMC.xml +++ b/IMC.xml @@ -10056,6 +10056,19 @@ + + + Small image encoded as several frames (transferable over low bandwidth lossy links). + + + + + + + + + + From 0b0a3d6b6df60c9f4e00fb12ed2cf597b9891b43 Mon Sep 17 00:00:00 2001 From: Jose Pinto Date: Tue, 9 Dec 2025 13:02:45 +0000 Subject: [PATCH 57/57] Added DesiredServoPosition message. --- IMC.xml | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/IMC.xml b/IMC.xml index 79c30f4..fb7330a 100644 --- a/IMC.xml +++ b/IMC.xml @@ -4304,6 +4304,22 @@ + + + Desired position of a fin. + + + + Servo identifier. + + + + + Desired servo position. + + + +