IMC.xml

<?xml version="1.0" encoding="UTF-8"?>
<!--
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+ Copyright (C) 2007-2020 Laboratório de Sistemas e Tecnologia Subaquática   +
+ Departamento de Engenharia Electrotécnica e de Computadores                +
+ Rua Dr. Roberto Frias, 4200-465 Porto, Portugal                            +
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<messages xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
          xsi:noNamespaceSchemaLocation="IMC.xsd"
          name="IMC"
          long-name="Inter Module Communication"
          version="5.4.30">

  <description>
    This document describes the communications protocol associated
    with the LSTS software framework. Concepts such as *message*,
    *field* and *packet* are explained in detail in the subsequent
    chapters.

    Inter module communication is achieved by the exchange of messages
    that can be recognized and interpreted by all participating
    modules. A message is a self-contained collection of data fields
    conveying relevant information about a given subject. The mean by
    which the messages are exchanged is not described in this
    document, but the reader can assume that at least the UDP Internet
    protocol is available at all ends of the communications channel.

    The Neptus Command and Control Unit (CCU), currently being used at
    LSTS, supports mission planning and control, using the described
    messaging API. This software entity can be used to define a plan
    before execution and monitor the plan's execution by presenting an
    operating console. For further details on this software contact
    the LSTS.

    A CCU exercises authority over a vehicle (real or
    simulated). Usually this term is applied to software in the class
    of LSTS Neptus, but can also be applied to software modules
    extending the vehicle core control software.

    The LSTS reserves itself the right to use message identification
    numbers up to 999. Thus if a third party needs to extend this API
    it must use identification numbers starting at 1000. The
    identification number 65535 has a special meaning and must not be
    used to extend the IMC protocol.
  </description>

  <types>
    <description>
      Messages and packets can be viewed as a finite collection of
      fields. The list of valid field types is presented below.
    </description>
    <type name="int8_t" size="1">
      <description>
        8 bit signed integer.
      </description>
    </type>
    <type name="uint8_t" size="1">
      <description>
        8 bit unsigned integer.
      </description>
    </type>
    <type name="int16_t" size="2">
      <description>
        16 bit signed integer.
      </description>
    </type>
    <type name="uint16_t" size="2">
      <description>
        16 bit unsigned integer.
      </description>
    </type>
    <type name="int32_t" size="4">
      <description>
        32 bit signed integer.
      </description>
    </type>
    <type name="uint32_t" size="4">
      <description>
        32 bit unsigned integer.
      </description>
    </type>
    <type name="int64_t" size="8">
      <description>
        A 64 bit signed integer
      </description>
    </type>
    <type name="fp32_t" size="4">
      <description>
        32 bit single precision floating point number in IEEE 754 format.
      </description>
    </type>
    <type name="fp64_t" size="8">
      <description>
        64 bit double precision floating point number in IEEE 754 format.
      </description>
    </type>
    <type name="rawdata">
      <description>
        Variable length byte stream.
      </description>
    </type>
    <type name="plaintext">
      <description>
        Variable length ASCII character stream.
      </description>
    </type>
    <type name="message">
      <description>
        An inline message. Useful for encapsulating other messages.
      </description>
    </type>
    <type name="message-list">
      <description>
        A list of messages.
      </description>
    </type>
  </types>

  <serialization>
    <description>
      To ensure accurate transportation some field types may require
      special treatment on transmission and reception. The operation
      of preparing a field type for transmission is called
      serialization, the inverse action is called deserialization. No
      special serialization is required for types that are not
      described in the table below, their values should be used as is.
    </description>
    <type name="rawdata">
      <description>
        A sequence of type *rawdata* is serialized by prepending a
        value of type *uint16_t*, representing the length of the
        sequence, to the stream of bytes. On deserialization the
        prepended value is used to retrieve the correct size of data
        bytes. The *rawdata* type length is limited only by the
        communication protocol in use.
      </description>
    </type>
    <type name="plaintext">
      <description>
        A sequence of type *plaintext* is serialized by prepending a
        value of type *uint16_t*, representing the length of the
        sequence, to the stream of ASCII characters. On
        deserialization the prepended value is used to retrieve the
        correct ASCII character sequence size. The *plaintext* type
        length is limited only by the communication protocol in use.
      </description>
    </type>
    <type name="message">
      <description>
        A field of type *message* is serialized by prepending a value
        of type *uint16_t*, representing the identification number of
        the message, to the serialized message payload. The special
        identification number 65535 must be used when no message is
        present. On deserialization the prepended value is used to
        retrieve the correct message identification number. The
        *message* type length is limited only by the communication
        protocol in use.
      </description>
    </type>
    <type name="message-list">
      <description>
        A field of type *message-list* is serialized by prepending a
        value of type *uint16_t*, representing the number of messages
        in the list, to the serialized message payload. On
        deserialization the prepended value is used to retrieve the
        correct number of messages
      </description>
    </type>
  </serialization>

  <units>
    <description>
      The following table lists the units used in the subsequent
      chapters.
    </description>
    <unit abbrev="A" name="Ampere"/>
    <unit abbrev="bit" name="Bit"/>
    <unit abbrev="bps" name="Bits per second"/>
    <unit abbrev="byte" name="Byte"/>
    <unit abbrev="g" name="Gravity acceleration"/>
    <unit abbrev="cm" name="Centimeter"/>
    <unit abbrev="cm/s" name="Centimeter per second"/>
    <unit abbrev="dm" name="Decimeter"/>
    <unit abbrev="dB" name="Decibel"/>
    <unit abbrev="dB/m" name="Decibel per meter"/>
    <unit abbrev="dBHz" name="Decibel hertz"/>
    <unit abbrev="dBm" name="Decibel milliwatts."/>
    <unit abbrev="°" name="Degree"/>
    <unit abbrev="°C" name="Degree Celsius"/>
    <unit abbrev="G" name="Gauss"/>
    <unit abbrev="hPa" name="Hectopascal"/>
    <unit abbrev="Hz" name="Hertz"/>
    <unit abbrev="kg/m/m/m" name="Kilogram per cubic metre"/>
    <unit abbrev="MiB" name="Mebibyte"/>
    <unit abbrev="m" name="Meter"/>
    <unit abbrev="m/s" name="Meter per second"/>
    <unit abbrev="m/s/s" name="Meter per square second"/>
    <unit abbrev="Mbps" name="Megabits per second"/>
    <unit abbrev="ms" name="Millisecond"/>
    <unit abbrev="µs" name="Microsecond"/>
    <unit abbrev="ns" name="Nanosecond"/>
    <unit abbrev="S/m" name="Siemens per meter"/>
    <unit abbrev="kg" name="Kilogram"/>
    <unit abbrev="Nm" name="Newton meter"/>
    <unit abbrev="NTU" name="Nephelometric Turbidity Unit"/>
    <unit abbrev="N" name="Newton"/>
    <unit abbrev="Pa" name="Pascal"/>
    <unit abbrev="%" name="Percent"/>
    <unit abbrev="PPM" name="Parts per million"/>
    <unit abbrev="PPB" name="Parts per billion"/>
    <unit abbrev="PSU" name="Pratical Salinity Unit"/>
    <unit abbrev="1/m" name="Inverse Meter"/>
    <unit abbrev="px" name="Pixel"/>
    <unit abbrev="µg/L" name="Microgram per liter"/>
    <unit abbrev="µM" name="Micromolar"/>
    <unit abbrev="rad" name="Radian"/>
    <unit abbrev="rad/s" name="Radian per second"/>
    <unit abbrev="rpm" name="Revolutions per minute"/>
    <unit abbrev="rpm/s" name="Revolutions per minute per second"/>
    <unit abbrev="s" name="Second"/>
    <unit abbrev="V" name="Volt"/>
    <unit abbrev="Enumerated" name="Enumeration of integer values"/>
    <unit abbrev="List" name="Comma separated list of values"/>
    <unit abbrev="Bitfield" name="Bit field"/>
    <unit abbrev="TupleList" name="List of key/value tuples">
      <description>
        This unit is a list of label/value tuples and is only valid in
        plaintext fields. The label and value portions of a tuple are
        separated using the equal sign (=) and tuples are separated
        using the semicolon character (;). These delimiting characters
        must not be used elsewhere. Leading and trailing semicolons
        must be removed.
        Examples: "label1=12;label2=3" or "label1=12" or "label1=test_2".
      </description>
    </unit>
  </units>

  <enumerations>
    <def name="Boolean Value" abbrev="Boolean" prefix="BOOL">
      <value id="0" name="False" abbrev="FALSE"/>
      <value id="1" name="True" abbrev="TRUE"/>
    </def>

    <def name="Controlled Mode" abbrev="ControlledMode" prefix="CTLMD">
      <value id="0" name="Relinquish / Handoff Control" abbrev="RELINQUISH_HANDOFF_CTL"/>
      <value id="1" name="Request Control" abbrev="REQUEST_CTL"/>
      <value id="2" name="Override Control" abbrev="OVERRIDE_CTL"/>
    </def>

    <def name="Speed Units" abbrev="SpeedUnits" prefix="SUNITS">
      <value id="0" name="Meters per second" abbrev="METERS_PS"/>
      <value id="1" name="RPM" abbrev="RPM"/>
      <value id="2" name="Percentage" abbrev="PERCENTAGE"/>
    </def>

    <def name="System Type" abbrev="SystemType" prefix="SYSTEMTYPE">
      <value id="0" name="CCU" abbrev="CCU"/>
      <value id="1" name="Human-portable Sensor" abbrev="HUMANSENSOR"/>
      <value id="2" name="UUV" abbrev="UUV"/>
      <value id="3" name="USV" abbrev="USV"/>
      <value id="4" name="UAV" abbrev="UAV"/>
      <value id="5" name="UGV" abbrev="UGV"/>
      <value id="6" name="Static sensor" abbrev="STATICSENSOR"/>
      <value id="7" name="Mobile sensor" abbrev="MOBILESENSOR"/>
      <value id="8" name="Wireless Sensor Network" abbrev="WSN"/>
    </def>

    <def name="Z Units" abbrev="ZUnits" prefix="Z" >
      <value id="0" name="None" abbrev="NONE"/>
      <value id="1" name="Depth" abbrev="DEPTH"/>
      <value id="2" name="Altitude" abbrev="ALTITUDE"/>
      <value id="3" name="Height" abbrev="HEIGHT"/>
    </def>

    <def name="RSSI Units" abbrev="RSSIUnits" prefix="RSSIUNITS">
      <value id="0" name="Decibel" abbrev="dB"/>
      <value id="1" name="Percentage" abbrev="PERCENTAGE"/>
    </def>

    <def name="UAV Type" abbrev="UAVType" prefix="UAVTYPE">
      <value id="0" name="Fixed-Wing" abbrev="FIXEDWING"/>
      <value id="1" name="Copter" abbrev="COPTER"/>
      <value id="2" name="Vtol" abbrev="VTOL"/>
    </def>
  </enumerations>

  <bitfields>
    <def prefix="CL" name="Control Loops Mask" abbrev="CLoopsMask">
      <value id="0x00000000" abbrev="NONE" name="None"/>
      <value id="0x00000001" abbrev="PATH" name="Path Control"/>
      <value id="0x00000002" abbrev="TELEOPERATION" name="Teleoperation Control"/>
      <value id="0x00000004" abbrev="ALTITUDE" name="Altitude Control"/>
      <value id="0x00000008" abbrev="DEPTH" name="Depth Control"/>
      <value id="0x00000010" abbrev="ROLL" name="Roll Control"/>
      <value id="0x00000020" abbrev="PITCH" name="Pitch Control"/>
      <value id="0x00000040" abbrev="YAW" name="Yaw Control"/>
      <value id="0x00000080" abbrev="SPEED" name="Speed Control"/>
      <value id="0x00000100" abbrev="YAW_RATE" name="Yaw Rate Control"/>
      <value id="0x00000200" abbrev="VERTICAL_RATE" name="Vertical Rate Control"/>
      <value id="0x00000400" abbrev="TORQUE" name="Torque Control"/>
      <value id="0x00000800" abbrev="FORCE" name="Force Control"/>
      <value id="0x00001000" abbrev="VELOCITY" name="Velocity Control"/>
      <value id="0x00002000" abbrev="THROTTLE" name="Throttle Control"/>
      <value id="0x40000000" abbrev="EXTERNAL" name="Unspecified External Control"/>
      <value id="0x80000000" abbrev="NO_OVERRIDE" name="Non-overridable control"/>
      <value id="0xFFFFFFFF" abbrev="ALL" name="All"/>
    </def>

    <def prefix="OPL" name="Operational Limits Mask" abbrev="OpLimitsMask">
      <value id="0x01" name="Maximum Depth" abbrev="MAX_DEPTH"/>
      <value id="0x02" name="Minimum Altitude" abbrev="MIN_ALT"/>
      <value id="0x04" name="Maximum Altitude" abbrev="MAX_ALT"/>
      <value id="0x08" name="Minimum Speed" abbrev="MIN_SPEED"/>
      <value id="0x10" name="Maximum Speed" abbrev="MAX_SPEED"/>
      <value id="0x20" name="Maximum Vertical Rate" abbrev="MAX_VRATE"/>
      <value id="0x40" name="Operation Area" abbrev="AREA"/>
    </def>
  </bitfields>

  <message-groups>
    <message-group name="Maneuver" abbrev="Maneuver">
      <message-type abbrev="Alignment"/>
      <message-type abbrev="AutonomousSection"/>
      <message-type abbrev="CommsRelay"/>
      <message-type abbrev="CompassCalibration"/>
      <message-type abbrev="CoverArea"/>
      <message-type abbrev="CustomManeuver"/>
      <message-type abbrev="Dislodge"/>
      <message-type abbrev="Drop"/>
      <message-type abbrev="IdleManeuver"/>
      <message-type abbrev="ImageTracking"/>
      <message-type abbrev="Elevator"/>
      <message-type abbrev="FollowPath"/>
      <message-type abbrev="FollowPoint"/>
      <message-type abbrev="FollowReference"/>
      <message-type abbrev="FollowTrajectory"/>
      <message-type abbrev="FormationPlanExecution"/>
      <message-type abbrev="Goto"/>
      <message-type abbrev="Land"/>
      <message-type abbrev="Launch"/>
      <message-type abbrev="Loiter"/>
      <message-type abbrev="LowLevelControl"/>
      <message-type abbrev="Magnetometer"/>
      <message-type abbrev="PopUp"/>
      <message-type abbrev="Rows"/>
      <message-type abbrev="RowsCoverage"/>
      <message-type abbrev="Sample"/>
      <message-type abbrev="ScheduledGoto"/>
      <message-type abbrev="StationKeeping"/>
      <message-type abbrev="StationKeepingExtended"/>
      <message-type abbrev="Takeoff"/>
      <message-type abbrev="Teleoperation"/>
      <message-type abbrev="VehicleFormation"/>
      <message-type abbrev="YoYo"/>
    </message-group>

    <message-group name="Control Command" abbrev="ControlCommand">
      <message-type abbrev="DesiredZ"/>
      <message-type abbrev="DesiredHeading"/>
      <message-type abbrev="DesiredRoll"/>
      <message-type abbrev="DesiredPitch"/>
      <message-type abbrev="DesiredSpeed"/>
      <message-type abbrev="DesiredPath"/>
      <message-type abbrev="DesiredThrottle"/>
    </message-group>

    <message-group name="RemoteData" abbrev="RemoteData">
      <message-type abbrev="RemoteCommand"/>
      <message-type abbrev="HistoricSample"/>
    </message-group>
  </message-groups>

  <flags>
    <flag abbrev="periodic" name="Periodic"/>
    <flag abbrev="deprecated" name="Deprecated"/>
  </flags>

  <header>
    <description>
      The packet header contains handling information in the form of
      supplemental fields, it is always placed at the beginning of a
      packet.
    </description>
    <field name="Synchronization Number" abbrev="sync" type="uint16_t" value="0xFE54" fixed="true">
      <description>
        The synchronization number marks the beginning of a packet.

        It denotes the packet API version and can be used to deduce
        the byte order of the sending host.

        It encodes value 0xFE[major][minor] where [major] equals the
        major version number of the protocol and [minor] equals the
        minor version of the protocol.

        The packet recipient is responsible for the correct
        interpretation of the synchronization number and byte order
        conversions.
      </description>
    </field>
    <field name="Message Identification Number" abbrev="mgid" type="uint16_t">
      <description>
        The identification number of the message contained in the
        packet. This field is used for correct message interpretation
        and deserialization.
      </description>
    </field>
    <field name="Message size" abbrev="size" type="uint16_t" unit="byte">
      <description>
        The size of the message data in the packet.
      </description>
    </field>
    <field name="Time stamp" abbrev="timestamp" type="fp64_t" unit="s">
      <description>
        The time when the packet was sent, as seen by the packet
        dispatcher. The number of seconds is represented in Universal
        Coordinated Time (UCT) in seconds since Jan 1, 1970 using IEEE
        double precision floating point numbers.
      </description>
    </field>
    <field name="Source Address" abbrev="src" type="uint16_t">
      <description>
        The Source IMC system ID.
      </description>
    </field>
    <field name="Source Entity" abbrev="src_ent" type="uint8_t">
      <description>
        The entity generating this message at the source address.
      </description>
    </field>
    <field name="Destination Address" abbrev="dst" type="uint16_t">
      <description>
        The Destination IMC system ID.
      </description>
    </field>
    <field name="Destination Entity" abbrev="dst_ent" type="uint8_t">
      <description>
        The entity that should process this message at the destination
        address.
      </description>
    </field>
  </header>

  <footer>
    <description>
      The packet footer contains validation information in the form of
      supplemental fields, it is always placed at the end of a packet.
    </description>
    <field name="Check Sum (CRC-16-IBM)" abbrev="crc16" type="uint16_t">
      <description>
        The check sum field is computed using the CRC-16-IBM with
        polynomial 0x8005 (x^16 + x^15 + x^2 + 1). The data
        contributing for the CRC includes all preceding header and
        message bytes.
      </description>
    </field>
  </footer>

  <categories>
    <category name="Core"/>
    <category name="Acoustic Communication"/>
    <category name="Acoustic Networking"/>
    <category name="Actuation"/>
    <category name="Autonomy"/>
    <category name="CCU"/>
    <category name="Development"/>
    <category name="Guidance"/>
    <category name="Maneuvering"/>
    <category name="Navigation"/>
    <category name="Networking"/>
    <category name="Plan Supervision"/>
    <category name="Sensors"/>
    <category name="Simulation"/>
    <category name="Storage"/>
    <category name="Vehicle Supervision"/>
    <category name="Vision"/>
    <category name="Custom"/>
    <category name="External"/>
  </categories>

  <!-- Core -->
  <message id="1" name="Entity State" abbrev="EntityState" source="vehicle" category="Core">
    <description>
      State reported by an entity in the vehicle. The source entity is
      identified in the message header.
    </description>
    <field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="ESTA">
      <description>
        State of entity.
      </description>
      <value id="0" name="Bootstrapping" abbrev="BOOT"/>
      <value id="1" name="Normal Operation" abbrev="NORMAL"/>
      <value id="2" name="Fault" abbrev="FAULT"/>
      <value id="3" name="Error" abbrev="ERROR"/>
      <value id="4" name="Failure" abbrev="FAILURE"/>
    </field>
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="EFLA">
      <description>
        Complementary entity state flags.
      </description>
      <value id="0x01" abbrev="HUMAN_INTERVENTION" name="Human Intervention Required"/>
    </field>
    <field name="Complementary description" type="plaintext" abbrev="description">
      <description>
        Complementary human-readable description of entity state.
      </description>
    </field>
  </message>

  <message id="2" name="Query Entity State" abbrev="QueryEntityState" flags="periodic" category="Core">
    <description>
      Request entities to report their state. Entities should respond
      by issuing an appropriate EntityState message.
    </description>
  </message>

  <message id="3" name="Entity Information" abbrev="EntityInfo" source="vehicle" category="Core">
    <description>
      This message describes an entity.
    </description>
    <field name="Entity Identifier" abbrev="id" type="uint8_t">
      <description>
        Entity identifier.
      </description>
    </field>
    <field name="Label" abbrev="label" type="plaintext">
      <description>
        Entity label or empty if the entity id is not valid.
      </description>
    </field>
    <field name="Component name" abbrev="component" type="plaintext">
      <description>
        Name of the plugin/component/subsystem associated with this
        entity.
      </description>
    </field>
    <field name="Activation Time" abbrev="act_time" type="uint16_t" unit="s">
      <description>
        Amount of time needed to properly activate the entity.
      </description>
    </field>
    <field name="Deactivation Time" abbrev="deact_time" type="uint16_t" unit="s">
      <description>
        Amount of time needed to properly deactivate the entity.
      </description>
    </field>
  </message>

  <message id="4" name="Query Entity Information" abbrev="QueryEntityInfo" source="ccu" category="Core">
    <description>
      Request information about an entity identifier. The receiving
      system shall reply with an EntityInfo message with the details
      of that entity.
    </description>
    <field name="Entity Identifier" abbrev="id" type="uint8_t">
      <description>
        Entity identifier.
      </description>
    </field>
  </message>

  <message id="5" name="Entity List" abbrev="EntityList" source="vehicle" category="Core">
    <description>
      This message describes the names and identification numbers of
      all entities in the system.
    </description>
    <field name="operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Operation to perform.
      </description>
      <value abbrev="REPORT" name="Report" id="0"/>
      <value abbrev="QUERY" name="Query" id="1"/>
    </field>
    <field name="list" abbrev="list" type="plaintext" unit="TupleList">
      <description>
        Example: "Battery=11;CTD=3"
      </description>
    </field>
  </message>

  <message id="7" name="CPU Usage" abbrev="CpuUsage" source="vehicle" flags="periodic" category="Core">
    <description>
      Report of software CPU usage.
    </description>
    <field name="Usage percentage" abbrev="value" type="uint8_t" max="100" unit="%">
      <description>
        The CPU usage, in percentage, of the sending software.
      </description>
    </field>
  </message>

  <message id="8" name="Transport Bindings" abbrev="TransportBindings" source="vehicle" category="Core">
    <description>
      Message generated when tasks bind to messages.
    </description>
    <field name="Consumer name" abbrev="consumer" type="plaintext">
      <description>
        The name of the consumer (e.g. task name).
      </description>
    </field>
    <field name="Message Identifier" abbrev="message_id" type="uint16_t">
      <description>
        The id of the message to be listened to.
      </description>
    </field>
  </message>

  <message id="9" name="Restart System" abbrev="RestartSystem" source="ccu" category="Core">
    <description>
      Request the destination system to restart itself.
    </description>
    <field name="Restart Type" abbrev="type" type="uint8_t" unit="Enumerated"  prefix="RSTYPE">
      <value abbrev="DUNE" name="Dune" id="1">
        <description>Request a DUNE restart</description>
      </value>
      <value abbrev="SYSTEM" name="System" id="2">
        <description>Request a system restart.</description>
      </value>
    </field>
  </message>

  <message id="12" name="Device Calibration Control" abbrev="DevCalibrationControl" source="vehicle,ccu" category="Core">
    <description>
      This message controls the calibration procedure of a given
      device. The destination device is selected using the destination
      entity identification number.
    </description>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="DCAL">
      <description>
        Operation to perform.
      </description>
      <value id="0" name="Start" abbrev="START">
        <description>
          Start calibration procedure.
        </description>
      </value>
      <value id="1" name="Stop" abbrev="STOP">
        <description>
          Stop calibration procedure.
        </description>
      </value>
      <value id="2" name="Perform Next Calibration Step" abbrev="STEP_NEXT">
        <description>
          Perform next step of the calibration procedure.
        </description>
      </value>
      <value id="3" name="Perform Previous Calibration Step" abbrev="STEP_PREVIOUS">
        <description>
          Perform previous step of the calibration procedure.
        </description>
      </value>
    </field>
  </message>

  <message id="13" name="Device Calibration State" abbrev="DevCalibrationState" source="vehicle,ccu" category="Core">
    <description>
      State of the calibration procedure.
    </description>
    <field name="Total Steps" abbrev="total_steps" type="uint8_t">
      <description>
        Total number of steps of the calibration procedure.
      </description>
    </field>
    <field name="Current Step Number" abbrev="step_number" type="uint8_t">
      <description>
        Number of the current step being performed.
      </description>
    </field>
    <field name="Description" abbrev="step" type="plaintext">
      <description>
        Human-readable description of the current step.
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="DCS">
      <description>
        Additional flags.
      </description>
      <value id="0x01" abbrev="PREVIOUS_NOT_SUPPORTED" name="Previous Step Not Supported">
        <description>
          Jumping to the previous calibration step is not supported.
        </description>
      </value>
      <value id="0x02" abbrev="NEXT_NOT_SUPPORTED" name="Next Step Not Supported">
        <description>
          Jumping to the next calibration step is not supported.
        </description>
      </value>
      <value id="0x04" abbrev="WAITING_CONTROL" name="Waiting Device Calibration Control">
        <description>
          The calibration procedure was suspended and must be resumed or
          cancelled with a DeviceCalibrationControl message.
        </description>
      </value>
      <value id="0x08" abbrev="ERROR" name="Calibration Error">
        <description>
          Calibration was interrupted due to an error and must be
          restarted or cancelled with a DeviceCalibrationControl
          message.
        </description>
      </value>
      <value id="0x10" abbrev="COMPLETED" name="Calibration Procedure Completed">
        <description>
          The calibration procedure was completed.
        </description>
      </value>
    </field>
  </message>

  <message id="14" name="Entity Activation State" abbrev="EntityActivationState" source="vehicle,ccu" category="Core">
    <description>
      State of entity activation/deactivation.
    </description>
    <field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="EAS">
      <description>
        Current state.
      </description>
      <value id="0" abbrev="INACTIVE" name="Entity is Inactive">
        <description>
          Entity is inactive.
        </description>
      </value>
      <value id="1" abbrev="ACTIVE" name="Entity is Active">
        <description>
          Entity is active.
        </description>
      </value>
      <value id="2" abbrev="ACT_IP" name="Activation in Progress">
        <description>
          Activation is in progress.
        </description>
      </value>
      <value id="3" abbrev="ACT_DONE" name="Activation Completed">
        <description>
          Activation is completed.
        </description>
      </value>
      <value id="4" abbrev="ACT_FAIL" name="Activation Failed">
        <description>
          The activation procedure failed and the field 'error' contains the error message.
        </description>
      </value>
      <value id="5" abbrev="DEACT_IP" name="Deactivation In Progress">
        <description>
          Deactivation is in progress.
        </description>
      </value>
      <value id="6" abbrev="DEACT_DONE" name="Deactivation Completed">
        <description>
          Deactivation is in progress.
        </description>
      </value>
      <value id="7" abbrev="DEACT_FAIL" name="Deactivation Failed">
        <description>
          The deactivation procedure failed and the field 'error' contains the error message.
        </description>
      </value>
    </field>
    <field name="Error" abbrev="error" type="plaintext">
      <description>
        Human-readable error message.
      </description>
    </field>
  </message>

  <message id="15" name="Query Entity Activation State" abbrev="QueryEntityActivationState" source="vehicle,ccu" category="Core">
    <description>
      Query the activation/deactivation state of an entity. The
      recipient shall reply with an EntityActivationState message.
    </description>
  </message>

  <message id="16" name="Vehicle Operational Limits" abbrev="VehicleOperationalLimits" source="vehicle,ccu" category="Core">
    <description>
      Vehicle opertional limits.
      For aircraft this should represent the flight envelope and the dynamic contraints.
    </description>
    <field name="Action on the vehicle operational limits" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Action on the vehicle operation limits
      </description>
      <value id="0" name="Request" abbrev="REQUEST"/>
      <value id="1" name="Set" abbrev="SET"/>
      <value id="2" name="Report" abbrev="REPORT"/>
    </field>
    <field name="Minimum speed" abbrev="speed_min" type="fp32_t" unit="m/s" min="0">
      <description>
        Minimum operation speed.
        For aircraft this is equal or larger then the stall speed.
      </description>
    </field>
    <field name="Maximum speed" abbrev="speed_max" type="fp32_t" unit="m/s" min="0">
      <description>
        Maximum operation speed.
        For aircraft this is limited by the engine power or structural contrains.
      </description>
    </field>
    <field name="Longitudinal maximum acceleration" abbrev="long_accel" type="fp32_t" unit="m/s/s" min="0">
      <description>
        Maximum longitudinal acceleration.
      </description>
    </field>
    <field name="Maximum MSL altitude" abbrev="alt_max_msl" type="fp32_t" unit="m" min="0">
      <description>
        Maximum altitude above mean-sea-level.
      </description>
    </field>
    <field name="Maximum Dive Rate Speed Fraction" abbrev="dive_fraction_max" type="fp32_t" min="0">
      <description>
        Maximum dive rate (negative vertical speed) as a fraction of the longitudinal speed.
      </description>
    </field>
    <field name="Maximum Climb Rate Speed Fraction" abbrev="climb_fraction_max" type="fp32_t" min="0">
      <description>
        Maximum climb rate (positive vertical speed) as a fraction of the longitudinal speed.
      </description>
    </field>
    <field name="Bank limit" abbrev="bank_max" type="fp32_t" unit="rad" min="0">
      <description>
        Limit to the bank angle (roll; angle over the xx body-axis).
      </description>
    </field>
    <field name="Bank rate limit" abbrev="p_max" type="fp32_t" unit="rad/s" min="0">
      <description>
        Limit to the bank angular rate (roll; angle over the xx body-axis).
      </description>
    </field>
    <field name="Minimum pitch angle" abbrev="pitch_min" type="fp32_t" unit="rad">
      <description>
        Minimum pitch angle (angle over the xx body-axis).
      </description>
    </field>
    <field name="Maximum pitch angle" abbrev="pitch_max" type="fp32_t" unit="rad">
      <description>
        Maximum pitch angle (angle over the xx body-axis).
      </description>
    </field>
    <field name="Maximum pitch rate" abbrev="q_max" type="fp32_t" unit="rad/s" min="0">
      <description>
        Maximum pitch angular rate (angle over the xx body-axis).
      </description>
    </field>
    <field name="Minimum load factor" abbrev="g_min" type="fp32_t" unit="g" max="0">
      <description>
        Minimum load factor, i.e., maximum positive acceleration in the zz body-axis
        as a factor of the gravity acceleration at mean-sea-level.
      </description>
    </field>
    <field name="Maximum load factor" abbrev="g_max" type="fp32_t" unit="g" min="0">
      <description>
        Maximum load factor, i.e., maximum negative acceleration in the zz body-axis
        as a factor of the gravity acceleration at mean-sea-level.
      </description>
    </field>
    <field name="Maximum lateral load factor" abbrev="g_lat_max" type="fp32_t" unit="g" min="0">
      <description>
        Maximum lateral load factor, i.e., maximum acceleration in the yy body-axis
        as a factor of the gravity acceleration at mean-sea-level.
      </description>
    </field>
    <field name="Minimum RPMs" abbrev="rpm_min" type="fp32_t" unit="rpm" min="0">
      <description>
        Minimum motor RPMs.
      </description>
    </field>
    <field name="Maximum RPMs" abbrev="rpm_max" type="fp32_t" unit="rpm" min="0">
      <description>
        Maximum motor RPMs.
      </description>
    </field>
    <field name="Maximum RPM rate" abbrev="rpm_rate_max" type="fp32_t" unit="rpm/s" min="0">
      <description>
        Maximum motor RPMs' rate of change.
      </description>
    </field>
  </message>

  <message id="20" name="Message List" abbrev="MsgList" category="Core">
    <field name="Messages" abbrev="msgs" type="message-list"/>
  </message>

  <!-- Simulation -->
  <message id="50" name="Simulated State" abbrev="SimulatedState" source="vehicle" category="Simulation">
    <description>
      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.
    </description>
    <field name="Latitude (WGS-84)" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude.
      </description>
    </field>
    <field name="Longitude (WGS-84)" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude.
      </description>
    </field>
    <field name="Height (WGS-84)" abbrev="height" type="fp32_t" unit="m">
      <description>
        Height above the WGS-84 ellipsoid.
      </description>
    </field>
    <field name="Offset north (m)" abbrev="x" type="fp32_t" unit="m">
      <description>
        The North offset of the North/East/Down field.
      </description>
    </field>
    <field name="Offset east (m)" abbrev="y" type="fp32_t" unit="m">
      <description>
        The East offset of the North/East/Down field.
      </description>
    </field>
    <field name="Offset down (m)" abbrev="z" type="fp32_t" unit="m">
      <description>
        The Down offset of the North/East/Down field.
      </description>
    </field>
    <field name="Rotation over x axis" abbrev="phi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The phi Euler angle from the vehicle's attitude.
      </description>
    </field>
    <field name="Rotation over y axis" abbrev="theta" type="fp32_t" unit="rad" min="-1.57079632679490" max="1.57079632679490">
      <description>
        The theta Euler angle from the vehicle's attitude.
      </description>
    </field>
    <field name="Rotation over z axis" abbrev="psi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The psi Euler angle from the vehicle's attitude.
      </description>
    </field>
    <field name="Body-Fixed xx Linear Velocity" abbrev="u" type="fp32_t" unit="m/s">
      <description>
        Body-fixed frame xx axis linear velocity component.
      </description>
    </field>
    <field name="Body-Fixed yy Linear Velocity" abbrev="v" type="fp32_t" unit="m/s">
      <description>
        Body-fixed frame yy axis linear velocity component.
      </description>
    </field>
    <field name="Body-Fixed zz Linear Velocity" abbrev="w" type="fp32_t" unit="m/s">
      <description>
        Body-fixed frame zz axis linear velocity component.
      </description>
    </field>
    <field name="Angular Velocity in x" abbrev="p" type="fp32_t" unit="rad/s" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The angular velocity over body-fixed xx axis (roll rate).
      </description>
    </field>
    <field name="Angular Velocity in y" abbrev="q" type="fp32_t" unit="rad/s" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The angular velocity over body-fixed yy axis (pitch rate).
      </description>
    </field>
    <field name="Angular Velocity in z" abbrev="r" type="fp32_t" unit="rad/s" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The angular velocity over body-fixed zz axis (yaw rate).
      </description>
    </field>
    <field name="Stream Velocity X (North)" abbrev="svx" type="fp32_t" unit="m/s">
      <description>
        Stream Velocity xx axis velocity component.
      </description>
    </field>
    <field name="Stream Velocity Y (East)" abbrev="svy" type="fp32_t" unit="m/s">
      <description>
        Stream Velocity yy axis velocity component.
      </description>
    </field>
    <field name="Stream Velocity Z (Down)" abbrev="svz" type="fp32_t" unit="m/s">
      <description>
        Stream Velocity zz axis velocity component.
      </description>
    </field>
  </message>

  <message id="51" name="Leak Simulation" abbrev="LeakSimulation" category="Simulation">
    <description>
      Simulate leak behavior.
    </description>
    <field name="Operation" abbrev="op" type="uint8_t" prefix="LSIM" unit="Enumerated">
      <description>
        Indicates whether leaks have been detected or not.
      </description>
      <value id="0" abbrev="OFF" name="Leaks Off"/>
      <value id="1" abbrev="ON" name="Leaks On"/>
    </field>
    <field name="Leak Entities" abbrev="entities" type="plaintext">
      <description>
        Comma separated list of leak entities (empty for all leaks
        configured).
      </description>
    </field>
  </message>

  <message id="52" name="Underwater Acoustics Simulation" abbrev="UASimulation" category="Simulation">
    <description>
      Underwater acoustics simulation request.
    </description>
    <field name="Type" abbrev="type" type="uint8_t" prefix="UAS" unit="Enumerated">
      <description>Type of request.</description>
      <value id="0" abbrev="DATA" name="Data Transmission"/>
      <value id="1" abbrev="PING" name="Ping"/>
      <value id="2" abbrev="PING_REPLY" name="Ping Reply"/>
    </field>
    <field name="Transmission Speed" abbrev="speed" unit="bps" type="uint16_t">
      <description>
        Transmission speed.
      </description>
    </field>
    <field name="Data" abbrev="data" type="rawdata">
      <description>
        Data for transmission requests.
      </description>
    </field>
  </message>

  <message id="53" name="Dynamics Simulation Parameters" abbrev="DynamicsSimParam" category="Simulation">
    <description>
      Vehicle dynamics parameters for 3DOF, 4DOF or 5DOF simulations.
    </description>
    <field name="Action on the Vehicle Simulation Parameters" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Action on the vehicle simulation parameters for the formation control
      </description>
      <value id="0" name="Request" abbrev="REQUEST"/>
      <value id="1" name="Set" abbrev="SET"/>
      <value id="2" name="Report" abbrev="REPORT"/>
    </field>
    <field name="TAS to Longitudinal Acceleration Gain" abbrev="tas2acc_pgain" type="fp32_t">
      <description>
        Proportional gain from the TAS (True Airspeed) error to the longitudinal acceleration.
      </description>
    </field>
    <field name="Bank to Bank Rate Gain" abbrev="bank2p_pgain" type="fp32_t">
      <description>
        Proportional gain from the bank angle error to the bank angular rate.
      </description>
    </field>
  </message>

  <!-- Storage -->
  <message id="100" name="Storage Usage" abbrev="StorageUsage" source="vehicle" flags="periodic" category="Storage">
    <description>
      Report of storage usage.
    </description>
    <field name="Available" abbrev="available" type="uint32_t" unit="MiB">
      <description>
        The available storage of the reporting device.
      </description>
    </field>
    <field name="Usage" abbrev="value" type="uint8_t" max="100" unit="%">
      <description>
        The percentage of storage used by the reporting device.
      </description>
    </field>
  </message>

  <message id="101" name="Cache Control" abbrev="CacheControl" source="vehicle,ccu" category="Storage">
    <description>
      Control caching of messages to persistent storage.
    </description>
    <field name="Control Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="COP">
      <description>
        Operation to perform.
      </description>
      <value id="0" name="Store" abbrev="STORE"/>
      <value id="1" name="Load" abbrev="LOAD"/>
      <value id="2" name="Clear" abbrev="CLEAR"/>
      <value id="3" name="Copy Snapshot" abbrev="COPY"/>
      <value id="4" name="Snapshot Copy Complete" abbrev="COPY_COMPLETE"/>
    </field>
    <field name="Snapshot destination" abbrev="snapshot" type="plaintext">
      <description>
        Destination for the cache snapshot file.
      </description>
    </field>
    <field name="Message" abbrev="message" type="message">
      <description>
        Message to store.
      </description>
    </field>
  </message>

  <message id="102" name="Logging Control" abbrev="LoggingControl" source="vehicle,ccu" category="Storage">
    <description>
      Control logging of messages to persistent storage.
    </description>
    <field name="Control Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="COP">
      <description>
        Operation to perform.
      </description>
      <value id="0" name="Request Start of Logging" abbrev="REQUEST_START">
        <description>
          Request the logging manager to start logging. The logging
          manager will reply with a STARTED operation. If logging is
          already in progress the current log will be closed and a new
          one will be opened (therefore the logging manager will send
          two messages - STOPPED and STARTED). The field 'name'
          represents the label that will be appended to the log path.
        </description>
      </value>
      <value id="1" name="Logging Started" abbrev="STARTED">
        <description>
          The logging manager will send a message with this operation
          everytime a log is successfully started. The field 'name'
          contains the complete name of the log.
        </description>
      </value>
      <value id="2" name="Request Logging Stop" abbrev="REQUEST_STOP">
        <description>
          Request the logging manager to stop logging messages. The
          logging manager will reply with a STOPPED operation and
          logging will be suspended until a message with operation
          START is received. If logging is already stoppped the
          logging manager will ignore this operation and will not
          reply with a STOPPED operation. The field 'name' with this
          operation type has no meaning.
        </description>
      </value>
      <value id="3" name="Logging Stopped" abbrev="STOPPED">
        <description>
          The logging manager will send a message with this operation
          when logging is successfully stopped. The field 'name'
          contains the complete name of the log that was closed.
        </description>
      </value>
      <value id="4" name="Request Current Log Name" abbrev="REQUEST_CURRENT_NAME">
        <description>
          This operation instructs the logging manager to send a
          message with operation CURRENT_NAME containing the complete
          name of the current log in the field 'name'. The field
          'name' with this operation type has no meaning.
        </description>
      </value>
      <value id="5" name="Current Log Name" abbrev="CURRENT_NAME">
        <description>
          The logging manager will send a message with this operation
          when asked via the REQUEST_CURRENT_NAME operation. The field
          'name' contains the complete name of the log.
        </description>
      </value>
    </field>
    <field name="Log Label / Path" abbrev="name" type="plaintext">
      <description>
        The meaning of this field depends on the operation and is
        explained in the operation's description.
      </description>
    </field>
  </message>

  <message id="103" name="Log Book Entry" abbrev="LogBookEntry" source="vehicle,ccu" category="Storage">
    <description>
      Human readable message reporting an event of interest.
    </description>
    <field name="Type" abbrev="type" type="uint8_t" prefix="LBET" unit="Enumerated">
      <description>
        Type of message.
      </description>
      <value id="0" abbrev="INFO" name="Information"/>
      <value id="1" abbrev="WARNING" name="Warning"/>
      <value id="2" abbrev="ERROR" name="Error"/>
      <value id="3" abbrev="CRITICAL" name="Critical"/>
      <value id="4" abbrev="DEBUG" name="Debug"/>
    </field>
    <field name="Timestamp" abbrev="htime" type="fp64_t" unit="s">
      <description>
        Timestamp (Epoch time).
      </description>
    </field>
    <field name="Context" abbrev="context" type="plaintext">
      <description>
        Message context.
      </description>
    </field>
    <field name="Text" abbrev="text" type="plaintext">
      <description>
        Message text.
      </description>
    </field>
  </message>

  <message id="104" name="Log Book Control" abbrev="LogBookControl" source="ccu,vehicle" category="Storage">
    <description>
      Control history log.
    </description>
    <field name="Command" abbrev="command" prefix="LBC" type="uint8_t" unit="Enumerated">
      <description>
        Command to perform.
      </description>
      <value id="0" name="Get" abbrev="GET">
        <description>
          Retrieve log book entries.
        </description>
      </value>
      <value id="1" name="Clear" abbrev="CLEAR">
        <description>
          Clear log book entries.
        </description>
      </value>
      <value id="2" name="Get Errors" abbrev="GET_ERR">
        <description>
          Retrieve log book entries corresponding to errors.
        </description>
      </value>
      <value id="3" name="Reply" abbrev="REPLY">
        <description>
          Reply to a GET command. Message argument is a MessageList
          instance containing LogBookEntry messages.
        </description>
      </value>
    </field>
    <field name="Timestamp" abbrev="htime" type="fp64_t" unit="s">
      <description>
        Timestamp for command (Epoch time).
      </description>
    </field>
    <field name="Messages" abbrev="msg" type="message-list" message-type="LogBookEntry">
      <description>
        Argument, currently used only for 'REPLY'.
      </description>
    </field>
  </message>

  <message id="105" name="Replay Control" abbrev="ReplayControl" category="Storage">
    <description>Control replay of LSF logged data.</description>
    <field name="Operation" abbrev="op" prefix="ROP" type="uint8_t" unit="Enumerated">
      <description>
        Operation to perform.
      </description>
      <value id="0" abbrev="START" name="Start"/>
      <value id="1" abbrev="STOP" name="Stop"/>
      <value id="2" abbrev="PAUSE" name="Pause"/>
      <value id="3" abbrev="RESUME" name="Resume"/>
    </field>
    <field name="File To Replay" abbrev="file" type="plaintext">
      <description>
        Pathname of file to replay.
      </description>
    </field>
  </message>

  <message id="106" name="Clock Control" abbrev="ClockControl" used-by="vehicle,ccu" category="Storage">
    <description>
      Clock control.
    </description>
    <field name="Operation" abbrev="op" type="uint8_t" prefix="COP" unit="Enumerated">
      <description>
        Operation to perform.
      </description>
      <value id="0" name="Execute Sync." abbrev="SYNC_EXEC">
        <description>
          Synchronize clock according to given clock value.
        </description>
      </value>
      <value id="1" name="Request Sync." abbrev="SYNC_REQUEST">
        <description>
          Request autonomous clock synchronization.
        </description>
      </value>
      <value id="2" name="Sync. Started" abbrev="SYNC_STARTED">
        <description>
          Synchronization start notification.
        </description>
      </value>
      <value id="3" name="Sync. done" abbrev="SYNC_DONE">
        <description>
          Synchronization completion notification.
        </description>
      </value>
      <value id="4" name="Set Timezone " abbrev="SET_TZ">
        <description>
          Set timezone.
        </description>
      </value>
      <value id="5" name="Timezone Setup" abbrev="SET_TZ_DONE">
        <description>
          Notification due to timezone modification.
        </description>
      </value>
    </field>
    <field name="Clock" abbrev="clock" type="fp64_t" unit="s">
      <description>
        Clock value (Epoch time).
      </description>
    </field>
    <field name="Timezone" abbrev="tz" type="int8_t" min="-23" max="23">
      <description>
        Timezone.
      </description>
    </field>
  </message>

  <message id="107" name="Historic CTD" abbrev="HistoricCTD" used-by="vehicle" category="Storage">
    <description>
      This message is used to store historic (transmitted afterwards) CTD data .
    </description>
    <field name="Conductivity" abbrev="conductivity" type="fp32_t" unit="S/m"/>
    <field name="Temperature" abbrev="temperature" type="fp32_t" unit="°C"/>
    <field name="Depth" abbrev="depth" type="fp32_t" unit="m"/>
  </message>

  <message id="108" name="Historic Telemetry" abbrev="HistoricTelemetry" used-by="vehicle" category="Storage">
    <description>
      This message is used to store historic (transmitted afterwards) telemetry information.
    </description>
    <field name="Altitude" abbrev="altitude" type="fp32_t" unit="m"/>
    <field name="Roll" abbrev="roll" type="uint16_t">
      <description>
        Roll encoded as α.(65535/(2.π))
      </description>
    </field>
    <field name="Pitch" abbrev="pitch" type="uint16_t">
      <description>
        Pitch encoded as α.(65535/(2.π))
      </description>
    </field>
    <field name="Yaw" abbrev="yaw" type="uint16_t">
      <description>
        Yaw encoded as α.(65535/(2.π))
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="int16_t" unit="dm"/>
  </message>

  <message id="109" name="Historic Sonar Data" abbrev="HistoricSonarData" used-by="vehicle" category="Storage">
    <description>
      This message is used to store historic (transmitted afterwards) sonar data.
    </description>
    <field name="Altitude" abbrev="altitude" type="fp32_t" unit="m"/>
    <field name="Width" abbrev="width" type="fp32_t" unit="m"/>
    <field name="Length" abbrev="length" type="fp32_t" unit="m"/>
    <field name="Bearing" abbrev="bearing" type="fp32_t"/>
    <field name="Pixels Per Line" abbrev="pxl" type="int16_t">
      <description>
        The number of pixels per line as the data in 'sonar_data' may
        correspond to more than one sequential sidescan lines.
      </description>
    </field>
    <field name="Encoding" abbrev="encoding" type="uint8_t" unit="Enumerated" prefix="ENC">
      <value abbrev="ONE_BYTE_PER_PIXEL" name="One Byte Per Pixel" id="0"/>
      <value abbrev="PNG" name="PNG compressed image" id="1"/>
      <value abbrev="JPEG" name="JPEG compressed image" id="2"/>
    </field>
    <field name="SonarData" abbrev="sonar_data" type="rawdata">
      <description>
        Sonar data encoded as in 'encoding'.
      </description>
    </field>
  </message>

  <message id="110" name="Historic Event" abbrev="HistoricEvent" used-by="vehicle" category="Storage">
    <description>
      This message is used to store historic event log entries.
    </description>
    <field name="Event" abbrev="text" type="plaintext"/>
    <field name="Event Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="EVTYPE">
      <description>
        Type of event.
      </description>
      <value id="0" abbrev="INFO" name="Information"/>
      <value id="1" abbrev="ERROR" name="Error"/>
    </field>
  </message>

  <message id="111" name="Vertical Profile" abbrev="VerticalProfile" used-by="vehicle" category="Storage">
    <description>
      This message is used to store historic profiles for water parameters: Temperature, Salinity, Chlorophyll...
    </description>
    <field name="Parameter" abbrev="parameter" type="uint8_t" unit="Enumerated" prefix="PROF">
      <description>
        Water parameter used to calculate the vertical profile.
      </description>
      <value id="0" name="Temperature" abbrev="TEMPERATURE"/>
      <value id="1" name="Salinity" abbrev="SALINITY"/>
      <value id="2" name="Conductivity" abbrev="CONDUCTIVITY"/>
      <value id="3" name="pH" abbrev="PH"/>
      <value id="4" name="Redox" abbrev="REDOX"/>
      <value id="5" name="Chlorophyll" abbrev="CHLOROPHYLL"/>
      <value id="6" name="Turbidity" abbrev="TURBIDITY"/>
    </field>
    <field name="Number of Samples" abbrev="numSamples" type="uint8_t"/>
    <field name="Samples" abbrev="samples" type="message-list" message-type="ProfileSample"/>
    <field name="Latitude" abbrev="lat" type="fp64_t" unit="rad">
      <description>
        Latitude where the profile was calculated.
      </description>
    </field>
    <field name="Longitude" abbrev="lon" type="fp64_t" unit="rad" >
    	<description>
        	Longitude where the profile was calculated.
        </description>
    </field>
  </message>
  
  <message abbrev="ProfileSample" name="Profile Sample" id="112" category="Storage">
      <description>
        Samples to calculate a vertical profile.
      </description>
      <field name="Depth" abbrev="depth" type="uint16_t" unit="dm"/>
      <field name="Average" abbrev="avg" type="fp32_t"/>
  </message>

  <!--  Networking Messages -->
  <message id="150" name="Heartbeat" abbrev="Heartbeat" source="vehicle,ccu" flags="periodic" category="Networking">
    <description>
      The Heartbeat message is used to inform other modules that the
      sending entity's system is running normally and communications
      are alive.
    </description>
  </message>

  <message id="151" name="Announce" abbrev="Announce" source="vehicle,ccu" category="Networking">
    <description>
      A system description that is to be broadcasted to other systems.
    </description>
    <field name="System Name" abbrev="sys_name" type="plaintext">
      <description>
        System name.
      </description>
    </field>
    <field name="System Type" abbrev="sys_type" type="uint8_t" unit="Enumerated" enum-def="SystemType">
      <description>
        System type.
      </description>
    </field>
    <field name="Control Owner" abbrev="owner" type="uint16_t">
      <description>
        The owner IMC system ID.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude. If lat=0 and lon=0 means location value is unknown.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude. If lat=0 and lon=0 means location value is unknown.
      </description>
    </field>
    <field name="Height WGS-84" abbrev="height" type="fp32_t" unit="m">
      <description>
        Height above WGS-84 ellipsoid.
      </description>
    </field>
    <field name="Services" abbrev="services" type="plaintext">
      <description>
        Semicolon separated list of URLs. Examples of such URLs are:

        - *imc+udp://192.168.106.34:6002/*
        - *dune://0.0.0.0/uid/1294925553839635/*
        - *http://192.168.106.34/dune/*.
      </description>
    </field>
  </message>

  <message id="152" name="Announce Service" abbrev="AnnounceService" source="vehicle" category="Networking">
    <description>
      Announcement about the existence of a service.
    </description>
    <field name="Service" abbrev="service" type="plaintext">
      <description>
        Semicolon separated list of URLs (see :ref:`Announce`).
      </description>
    </field>
    <field name="ServiceType" abbrev="service_type" type="uint8_t" unit="Bitfield" prefix="SRV_TYPE">
      <description>
        Informs about the availability of the service on internal and
        external networks.
      </description>
      <value id="0x01" name="External" abbrev="EXTERNAL"/>
      <value id="0x02" name="Local" abbrev="LOCAL"/>
    </field>
  </message>

  <message id="153" name="Receive Signal Strength Information" abbrev="RSSI" source="vehicle" category="Networking">
    <description>
      Measure of the RSSI by a networking device.
      Indicates the gain or loss in the signal strength due to the transmission and reception equipment and the transmission medium and distance.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" max="100" unit="%">
      <description>
        RSSI measurement.
      </description>
    </field>
  </message>

  <message id="154" name="Voltage Standing Wave Ratio" abbrev="VSWR" source="vehicle" category="Networking">
    <description>
      Measure of the VSWR by a networking device.
    </description>
    <field name="Value" abbrev="value" type="fp32_t">
      <description>
        VSWR measurement.
      </description>
    </field>
  </message>

  <message id="155" name="Link Level" abbrev="LinkLevel" source="vehicle" category="Networking">
    <description>
      Measurement of link level quality. For instance, this may
      correspond to the acknowledgment ratio of a link. But,
      generally, the measure is link-dependent.
    </description>
    <field name="Value" abbrev="value" type="fp32_t">
      <description>
        Link level value.
      </description>
    </field>
  </message>

  <message id="156" name="SMS" abbrev="Sms" source="vehicle" flags="deprecated" category="Networking">
    <description>
      Send a SMS message.
    </description>
    <field name="Number" abbrev="number" type="plaintext">
      <description>
        Target mobile device number.
      </description>
    </field>
    <field name="Timeout" abbrev="timeout" type="uint16_t">
      <description>
        Timeout for sending message.
      </description>
    </field>
    <field name="Contents" abbrev="contents" type="plaintext">
      <description>
        Message contents.
      </description>
    </field>
  </message>

  <message id="157" name="SMS Transmit" abbrev="SmsTx" source="vehicle,ccu" category="Networking">
    <description>
      Request to send SMS.
    </description>
    <field name="Sequence Number" abbrev="seq" type="uint32_t">
      <description>
        Sequence number.
      </description>
    </field>
    <field name="Destination" abbrev="destination" type="plaintext">
      <description>
        Number or name of the recipient.
      </description>
    </field>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        Timeout for sending message.
      </description>
    </field>
    <field name="Data" abbrev="data" type="rawdata">
      <description>
        Message data.
      </description>
    </field>
  </message>

  <message id="158" name="SMS Receive" abbrev="SmsRx" source="vehicle" category="Networking">
    <description>
      Received SMS data.
    </description>
    <field name="Source" abbrev="source" type="plaintext">
      <description>
        Number of name of the sender.
      </description>
    </field>
    <field name="Data" abbrev="data" type="rawdata">
      <description>
        Message data.
      </description>
    </field>
  </message>

  <message id="159" name="SMS State" abbrev="SmsState" source="vehicle" category="Networking">
    <field name="Sequence Number" abbrev="seq" type="uint32_t">
      <description>
        Sequence number.
      </description>
    </field>
    <field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="SMS">
      <description>
        Current state of an SMS transaction.
      </description>
      <value id="0" name="Accepted" abbrev="ACCEPTED"/>
      <value id="1" name="Rejected" abbrev="REJECTED"/>
      <value id="2" name="Interrupted" abbrev="INTERRUPTED"/>
      <value id="3" name="Completed" abbrev="COMPLETED"/>
      <value id="4" name="Idle" abbrev="IDLE"/>
      <value id="5" name="Transmitting" abbrev="TRANSMITTING"/>
      <value id="6" name="Receiving" abbrev="RECEIVING"/>
    </field>
    <field name="Error Message" abbrev="error" type="plaintext"/>
  </message>

  <message id="160" name="Text Message" abbrev="TextMessage" source="vehicle" category="Networking">
    <description>
      A text message has been received.
    </description>
    <field name="Origin" abbrev="origin" type="plaintext">
      <description>
        Message origin (if known).
      </description>
    </field>
    <field name="Text" abbrev="text" type="plaintext">
      <description>
        Message contents.
      </description>
    </field>
  </message>

  <message id="170" name="Received Iridium Message" abbrev="IridiumMsgRx" source="vehicle,ccu" category="Networking">
    <field name="Origin Identifier" abbrev="origin" type="plaintext">
      <description>The unique identifier of this message's origin device (e.g. lauv-xtreme-2, manta-0).</description>
    </field>
    <field name="Timestamp" abbrev="htime" type="fp64_t" unit="s">
      <description>Timestamp (Epoch time).</description>
    </field>
    <field name="Latitude Reference" abbrev="lat" type="fp64_t" unit="rad" />
    <field name="Longitude Reference" abbrev="lon" type="fp64_t" unit="rad" />
    <field name="Data" abbrev="data" type="rawdata">
      <description>
        Message data.
      </description>
    </field>
  </message>

  <message id="171" name="Transmit Iridium Message" abbrev="IridiumMsgTx" source="vehicle,ccu" category="Networking">
    <field name="Request Identifier" abbrev="req_id" type="uint16_t">
      <description>The request identifier used to receive transmission updates.</description>
    </field>
    <field name="Time to live" abbrev="ttl" type="uint16_t" unit="s">
      <description>Time, in seconds, after which there will be no more atempts to transmit the message.</description>
    </field>
    <field name="Destination Identifier" abbrev="destination" type="plaintext">
      <description>The unique identifier of this message's destination (e.g. lauv-xtreme-2, manta-0).</description>
    </field>
    <field name="Data" abbrev="data" type="rawdata">
      <description>
        Message data.
      </description>
    </field>
  </message>

  <message id="172" name="Iridium Transmission Status" abbrev="IridiumTxStatus" source="vehicle,ccu" category="Networking">
    <field name="Request Identifier" abbrev="req_id" type="uint16_t">
      <description>The request identifier used to receive transmission updates</description>
    </field>
    <field name="Status Code" abbrev="status" type="uint8_t" unit="Enumerated" prefix="TXSTATUS">
      <value abbrev="OK" name="Successfull transmission" id="1"/>
      <value abbrev="ERROR" name="Error while trying to transmit message" id="2"/>
      <value abbrev="QUEUED" name="Message has been queued for transmission" id="3"/>
      <value abbrev="TRANSMIT" name="Message is currently being transmitted" id="4"/>
      <value abbrev="EXPIRED" name="Message's TTL has expired. Transmition cancelled." id="5"/>
      <value abbrev="EMPTY" name="No more messages to be transmitted or received." id="6"/>
    </field>
    <field name="Status Text" abbrev="text" type="plaintext"/>
  </message>

  <message id="180" name="Group Membership State" abbrev="GroupMembershipState" source="ccu,vehicle" flags="periodic" category="Networking">
    <description>
      Group communication link assertion.
    </description>
    <field name="Group Name" abbrev="group_name" type="plaintext">
      <description>
        Name of the group of systems.
      </description>
    </field>
    <field name="Communication Links Assertion" abbrev="links" type="uint32_t">
      <description>
        Communication link assertion for each group member.
        One bit to assert each system communication link state.
      </description>
    </field>
  </message>

  <message id="181" name="System Group" abbrev="SystemGroup" category="Networking">
    <description>
      Group of systems configuration.
    </description>
    <field name="Group Name" abbrev="GroupName" type="plaintext">
      <description>
        Name of the group of systems.
      </description>
    </field>
    <field name="Group List Action" abbrev="Action" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Actions on the group list.
      </description>
      <value id="0" name="Disband" abbrev="Dis"/>
      <value id="1" name="Set" abbrev="Set"/>
      <value id="2" name="Request" abbrev="Req"/>
      <value id="3" name="Change" abbrev="Chg"/>
      <value id="4" name="Report" abbrev="Rep"/>
      <value id="5" name="Force" abbrev="Frc"/>
    </field>
    <field name="Systems Name List" abbrev="GroupList" type="plaintext">
      <description>
        List of names of system in the group, separated by commas.
      </description>
    </field>
  </message>

  <message id="182" name="Link Latency" abbrev="LinkLatency" category="Networking">
    <description>
      Communications latency between two systems.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="s" min="0">
      <description>
        Time taken between the communications package/message is sent
        from the source until it arrives to the destination.
      </description>
    </field>
    <field name="Communications Source System ID" abbrev="sys_src" type="uint16_t">
      <description>
        ID of system that was the source of the communication package.
      </description>
    </field>
  </message>

  <message id="183" name="Extended Receive Signal Strength Information" abbrev="ExtendedRSSI" source="vehicle" category="Networking">
    <description>
      Measure of the RSSI by a networking device.
      Indicates the gain or loss in the signal strenght due to the transmission
      and reception equipment and the transmission medium and distance.
    </description>
    <field name="Value" abbrev="value" type="fp32_t">
      <description>
        RSSI measurement.
      </description>
    </field>
    <field name="RSSI Units" abbrev="units" type="uint8_t" unit="Enumerated" enum-def="RSSIUnits">
      <description>
        Indicates the units used for the RSSI value.
      </description>
    </field>
  </message>

  <message id="184" abbrev="HistoricData" name="Historic Data Series" category="Networking">
    <description>
      This message holds a list of inline data samples produced by one or more vehicles in the past.
      It is used to transfer data over disruption tolerant networks.
    </description>
    <field name="Base Latitude" abbrev="base_lat" type="fp32_t" unit="°">
      <description>
        All data sent inside this message will have offsets relative to this latitude.
      </description>
    </field>
    <field name="Base Longitude" abbrev="base_lon" type="fp32_t" unit="°">
    <description>
      All data sent inside this message will have offsets relative to this longitude.
    </description>
    </field>
    <field name="Base Timestamp" abbrev="base_time" type="fp32_t" unit="s">
      <description>
        All data sent inside this message will use this time as the origin (0).
      </description>
    </field>
    <field name="Data" abbrev="data" type="message-list" message-type="RemoteData"/>
  </message>

  <message id="185" abbrev="CompressedHistory" name="Compressed Historic Data Series" category="Networking">
    <description>
      This message holds a list of inline data samples produced by one or more vehicles in the past.
      It is used to transfer data over disruption tolerant networks.
    </description>
    <field name="Base Latitude" abbrev="base_lat" type="fp32_t" unit="°">
      <description>
        All data sent inside this message will have offsets relative to this latitude.
      </description>
    </field>
    <field name="Base Longitude" abbrev="base_lon" type="fp32_t" unit="°">
    <description>
      All data sent inside this message will have offsets relative to this longitude.
    </description>
    </field>
    <field name="Base Timestamp" abbrev="base_time" type="fp32_t" unit="s">
      <description>
        All data sent inside this message will use this time as the origin (0).
      </description>
    </field>
    <field name="Data" abbrev="data" type="rawdata">
      <description>
        A message-list of HistoricSample messages compressed with GZip algorithm.
      </description>
    </field>
  </message>

  <message id="186" abbrev="HistoricSample" name="Historic Data Sample" category="Networking">
    <field name="Original System Id" abbrev="sys_id" type="uint16_t">
      <description>
        The IMC identifier of the system that produced this sample.
      </description>
    </field>
    <field name="Priority" abbrev="priority" type="int8_t">
      <description>
        The priority for this data sample. Default priority is 0. Samples with
        higher priorities will *always* be transmitted before samples with lower
        priorities. Samples with -127 priority will not be transmitted but just
        logged to disk locally.
      </description>
    </field>
    <field name="X offset" abbrev="x" type="int16_t" unit="m">
      <description>
        Northing offsets relative to base latitude / longitude expressed in the enclosing `HistoricData` message.
      </description>
    </field>
    <field name="Y offset" abbrev="y" type="int16_t" unit="m">
      <description>
        Easting offsets relative to base latitude / longitude expressed in the enclosing `HistoricData` message.
      </description>
    </field>
    <field name="Z offset" abbrev="z" type="int16_t" unit="dm">
      <description>
        Altitude / depth offsets relative to sea level expressed in decimeters.
        Negative values mean depth and positive values mean altitude.
      </description>
    </field>
    <field name="Time offset" abbrev="t" type="int16_t" unit="s">
      <description>
        Time offset in seconds relative to the base time expressed in the enclosing `HistoricData` message.
      </description>
    </field>
      <field name="Data Sample" abbrev="sample" type="message"/>
  </message>

  <message id="187" abbrev="HistoricDataQuery" name="Historic Data Query" category="Networking">
    <field name="Request Id" abbrev="req_id" type="uint16_t" />
    <field name="Request Type" abbrev="type" type="uint8_t" unit="Enumerated"  prefix="HRTYPE">
        <value abbrev="QUERY" name="Query" id="1">
            <description>Request data from the Data Store</description>
        </value>
        <value abbrev="REPLY" name="Reply" id="2">
            <description>Data Store response with Data (using field 'data')</description>
        </value>
        <value abbrev="CLEAR" name="Clear" id="3">
            <description>Clear 'data' from the Data Store</description>
        </value>
    </field>
    <field name="Maximum Size" abbrev="max_size" type="uint16_t"/>
    <field name="Data" abbrev="data" type="message" message-type="HistoricData"/>
  </message>

  <message id="188" abbrev="RemoteCommand" name="Remote Command" source="ccu,vehicle" category="Networking">
    <description>
      Command to remote system. If a system receives a RemoteCommand and it isn't the intended recipient, then it should
      resend it.
    </description>
    <field name="Original Source" abbrev="original_source" type="uint16_t">
      <description>
        IMC id of the original sender.
      </description>
    </field>
    <field name="Destination" abbrev="destination" type="uint16_t">
      <description>
        IMC id of the recipient.
      </description>
    </field>
    <field name="Timeout" abbrev="timeout" type="fp64_t" unit="s">
      <description>
        Expiration time of the message (Epoch Time), in seconds. If the message doesn't reach the destination within timeout,
        the validity of the message expires and there will be no more attempts to transmit the message.
      </description>
    </field>
    <field name="Command" abbrev="cmd" type="message">
      <description>
        Command to be unpacked by the recipient.
      </description>
    </field>
  </message>

  <message id="189" name="Communication Systems Query" abbrev="CommSystemsQuery" source="ccu,vehicle" category="Networking">
    <description>
      Presence of Communication Interfaces query. 
    </description>
    <field name="Type" abbrev="type" type="uint8_t" unit="Bitfield" prefix="CIQ">
      <value id="0x01" name="Query Systems" abbrev="QUERY">
        <description>Query systems about communication capability</description>
      </value>
      <value id="0x02" name="Reply" abbrev="REPLY">
       <description>Reply systems about communication capability</description>
      </value>        
      </field>       
    <field name="Communication Interface" abbrev="comm_interface" type="uint16_t" unit="Bitfield" prefix="CIQ">
     <description>
       Communication interface to be used for reports.
     </description>
     <value id="0x01" name="Acoustic" abbrev="ACOUSTIC">
       <description>Use acoustic communications</description>
     </value>
     <value id="0x02" name="Satellite" abbrev="SATELLITE">
       <description>Use satellite communications</description>
     </value>
     <value id="0x04" name="GSM" abbrev="GSM">
       <description>Use Global System for Mobile Communications</description>
     </value>
     <value id="0x08" name="Mobile" abbrev="MOBILE">
       <description>Use mobile networks</description>
     </value>
     <value id="0x10" name="Radio" abbrev="RADIO">
       <description>Use Radio telemetry</description>
       </value>    
      </field>
     <field name="Model" abbrev="model" type="uint16_t" unit="Enumerated" prefix="CIQ">
        <value id="0x00" name="unknown" abbrev="UNKNOWN">
         <description>Model is not defined</description>
       </value>
       <value id="0x01" name="3DR" abbrev="M3DR">
         <description>Radio Model 3DR</description>
       </value>
       <value id="0x02" name="RDFXXXxPtP" abbrev="RDFXXXXPTP">
         <description>Radio Model RDFXXXx point to point</description>
       </value>        
       </field>   
    <field name="System List" abbrev="list" type="plaintext" unit="List">
      <description>
        Comma separated list of known Radio system names.
      </description>
    </field>
  </message>

  <message id="190" name="Telemetry Message"  abbrev="TelemetryMsg" source="ccu,vehicle" category="Networking">
    <description>
      Message to handle telemetry transmissions.
    </description>
      <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="TM">
        <description>Type of telemetry transmissions.</description>
        <value id="0x01" name="Tx" abbrev="TX">
         <description>Send telemetry data.</description>
        </value>
        <value id="0x02" name="Rx" abbrev="RX">
         <description>Received telemetry data.</description>
        </value>   
        <value id="0x03" name="TxStatus" abbrev="TXSTATUS">  
          <description>Status of transmitted data.</description>
        </value>     
       </field> 
      <field name="Request Identifier" abbrev="req_id" type="uint32_t">
       <description>The request identifier used to receive transmission updates.</description>
       </field>
      <field name="Time to live" abbrev="ttl" type="uint16_t" unit="s">
       <description>Time, in seconds, which will be considered a non-transmitted message.</description>
       </field>
      <field name="Code" abbrev="code" type="uint8_t" unit="Enumerated" prefix="TM">
        <description>Type of telemetry transmissions.</description>
        <value id="0x00" name="Code unknown" abbrev="CODE_UNK">
         <description>Unknown code type</description>
        </value>
        <value id="0x01" name="Code Report" abbrev="CODE_REPORT">
           <description> 
          Concise representation of entire system state message.
          Payload message is a MessageList.
          </description>
        </value>   
        <value id="0x02" name="Code IMC" abbrev="CODE_IMC">  
         <description>Payload message is INLINEMSG</description>
        </value>
        <value id="0x03" name="Code raw" abbrev="CODE_RAW">  
         <description>Payload message is in raw </description> 
        </value>    
        </field> 
      <field name="Destination Identifier" abbrev="destination" type="plaintext">
        <description>The unique identifier of this message's destination (e.g. lauv-xtreme-2, manta-0).</description>
       </field>
      <field name="Source Identifier" abbrev="Source" type="plaintext">
        <description>The unique identifier of this message's destination (e.g. lauv-xtreme-2, manta-0).</description>
       </field>
      <field name="Acknowledge" abbrev="acknowledge" type="uint8_t" unit="Bitfield" prefix="TM">
        <description>Type of telemetry transmissions.</description>
        <value id="0x00" name="Not acknowledge" abbrev="NAK">
          <description>Message transmitted without acknowledged reception response</description>
        </value>
        <value id="0x01" name="acknowledge" abbrev="AK">
         <description>Message transmitted with acknowledged reception response</description>
        </value> 
        </field> 
      <field name="Status" abbrev="status" type="uint8_t" unit="Enumerated" prefix="TM"> 
        <description>State of the transmitted message.</description>
        <value id="0x00" name="Does not apply" abbrev="NONE"/>
        <value abbrev="DONE" name="Successfull transmission" id="1"/>
        <value abbrev="FAILED" name="Error while trying to transmit message" id="2"/>
        <value abbrev="QUEUED" name="Message has been queued for transmission" id="3"/>
        <value abbrev="TRANSMIT" name="Message is currently being transmitted" id="4"/>
        <value abbrev="EXPIRED" name="Message's TTL has expired. Transmition cancelled" id="5"/>
        <value abbrev="EMPTY" name="No more messages to be transmitted or received" id="6"/>
        <value abbrev="INV_ADDR" name="Invalid address" id="7"/>
        <value abbrev="INV_SIZE" name="Invalid transmission size" id="8"/>
       </field>
      <field name="Data" abbrev="data" type="rawdata">
      </field>
   </message>

  <!-- Acoustic Networking -->
  <message id="200" name="LBL Range" abbrev="LblRange" source="vehicle" flags="periodic" category="Acoustic Communication">
    <description>
      When the vehicle uses Long Base Line navigation, this message
      notifies that a new range was received from one of the acoustics
      transponders. The message fields are used to identify the range
      value and the transponder name.
    </description>
    <field name="Beacon Identification Number" abbrev="id" type="uint8_t">
      <description>
        Identification number of the acoustic transponder from which
        the range information was received.
      </description>
    </field>
    <field name="Range" abbrev="range" type="fp32_t" unit="m">
      <description>
        Distance to the acoustic transponder.
      </description>
    </field>
  </message>

  <message id="202" name="LBL Beacon Configuration" abbrev="LblBeacon" source="ccu,vehicle" category="Acoustic Communication">
    <description>
      Position and configuration of an LBL transponder (beacon).
    </description>
    <field name="Beacon Name" abbrev="beacon" type="plaintext">
      <description>
        Name/Label of the acoustic transponder.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude coordinate.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude coordinate.
      </description>
    </field>
    <field name="Depth" abbrev="depth" type="fp32_t" unit="m">
      <description>
        The beacon's depth.
      </description>
    </field>
    <field name="Interrogation channel" abbrev="query_channel" type="uint8_t">
      <description>
        Interrogation channel.
      </description>
    </field>
    <field name="Reply channel" abbrev="reply_channel" type="uint8_t">
      <description>
        Reply channel.
      </description>
    </field>
    <field name="Transponder delay" abbrev="transponder_delay" type="uint8_t" unit="ms">
      <description>
        Transponder delay.
      </description>
    </field>
  </message>

  <message id="203" name="LBL Configuration" abbrev="LblConfig" source="ccu,vehicle" category="Acoustic Communication">
    <description>
      Long Base Line configuration.
    </description>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Used to define the type of the operation this message holds.
      </description>
      <value abbrev="SET_CFG" name="Set LBL Configuration" id="0">
        <description>Set the beacons configuration aboard the vehicle.</description>
      </value>
      <value abbrev="GET_CFG" name="Retrieve LBL Configuration" id="1">
        <description>Request the vehicle to send its current beacons configuration.</description>
      </value>
      <value abbrev="CUR_CFG" name="Reply to a GET command" id="2"></value>
    </field>
    <field name="Beacons" abbrev="beacons" type="message-list" message-type="LblBeacon">
      <description>
        A list of LBL beacon configuration messages.
      </description>
    </field>
  </message>

  <message id="206" name="Acoustic Message" abbrev="AcousticMessage" source="vehicle" category="Acoustic Communication">
    <description>
      Send an acoustic message.
    </description>
    <field name="Message to send" abbrev="message" type="message">
      <description>
        Message to send.
      </description>
    </field>
  </message>

  <message id="207" name="Simulated Acoustic Message" abbrev="SimAcousticMessage" source="vehicle" category="Acoustic Communication">
    <description>
      Send an acoustic message.
    </description>
    <field name="Latitude" abbrev="lat" type="fp64_t">
      <description>
       Absolute latitude of sending vehicle.
      </description>
    </field>
    <field name="Longitude" abbrev="lon" type="fp64_t">
      <description>
       Absolute longitude of sending vehicle.
      </description>
    </field>
    <field name="Depth" abbrev="depth" type="fp32_t">
      <description>
       Depth of sending vehicle.
      </description>
    </field>
    <field name="Sentence" abbrev="sentence" type="plaintext">
      <description>
      Sentence string sent/received by the modem
      </description>
    </field>
    <field name="Transmission Time" abbrev="txtime" unit="s" type="fp64_t">
      <description>
        Transmission time.
      </description>
    </field>
    <field name="Modem Type" abbrev="modem_type" type="plaintext">
      <description>
       The modem being used.
      </description>
    </field>
    <field name="Source system" abbrev="sys_src" type="plaintext">
      <description>
       Name of source system.
      </description>
    </field>
    <field name="Sequence Id" abbrev="seq" type="uint16_t"/>
    <field name="Destination System" abbrev="sys_dst" type="plaintext"/>
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="SAM">
      <value abbrev="ACK" name="Acknowledgement" id="0x01"/>
      <value abbrev="DELAYED" name="Delayed" id="0x02"/>
      <value abbrev="REPLY" name="Reply" id="0x03"/>
    </field>
    <field name="Data" abbrev="data" type="rawdata"/>
  </message>
  
  <message id="211" name="Acoustic Operation" abbrev="AcousticOperation" category="Acoustic Communication">
    <description>
      Acoustic operation.
    </description>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="AOP">
      <description>
        Operation type.
      </description>
      <value id="0" name="Abort" abbrev="ABORT">
        <description>
          Send an abort through the acoustic channel to the system
          specified in the field 'system'.
        </description>
      </value>
      <value id="1" name="Abort in Progress" abbrev="ABORT_IP">
        <description>
          The latest abort request to the system specified in the
          field 'system' is in progress.
        </description>
      </value>
      <value id="2" name="Abort Timeout" abbrev="ABORT_TIMEOUT">
        <description>
          The latest abort operation expired without acknowledgment
          from the system specified in the field 'system'.
        </description>
      </value>
      <value id="3" name="Abort Acknowledged" abbrev="ABORT_ACKED">
        <description>
          The latest abort operation was acknowledged by the system
          specified in the field 'system'.
        </description>
      </value>
      <value id="4" name="Range Request" abbrev="RANGE">
        <description>
          Request a range through the acoustic channel to the system
          specified in the field 'system'.
        </description>
      </value>
      <value id="5" name="Range in Progress" abbrev="RANGE_IP">
        <description>
          The latest range request to the system specified in the
          field 'system' is in progress.
        </description>
      </value>
      <value id="6" name="Range Timeout" abbrev="RANGE_TIMEOUT">
        <description>
          The latest range request operation expired without reply
          from the system specified in the field 'system'.
        </description>
      </value>
      <value id="7" name="Range Received" abbrev="RANGE_RECVED">
        <description>
          The latest range request operation to the system specified
          in the field 'system' was successful and the range is
          specified in the field 'range'.
        </description>
      </value>
      <value id="8" name="Modem is Busy" abbrev="BUSY">
        <description>
          The acoustic modem is busy and cannot execute the requested
          operation.
        </description>
      </value>
      <value id="9" name="Unsupported operation" abbrev="UNSUPPORTED">
        <description>
          The latest requested operation is not supported.
        </description>
      </value>
      <value id="10" name="Transducer Not Detected" abbrev="NO_TXD">
        <description>
          The transducer was not detected.
        </description>
      </value>
      <value id="11" name="Send Message" abbrev="MSG">
        <description>
          Request message over acoustic channel. The message to send
          is specified by the 'msg' field.
        </description>
      </value>
      <value id="12" name="Message Send -- Queued" abbrev="MSG_QUEUED">
        <description>
          Message send request has been queued.
        </description>
      </value>
      <value id="13" name="Message Send -- In progress" abbrev="MSG_IP">
        <description>
          Message send request is in progress.
        </description>
      </value>
      <value id="14" name="Message Send -- Done" abbrev="MSG_DONE">
        <description>
          Message send request has been fulfilled.
        </description>
      </value>
      <value id="15" name="Message Send -- Failure" abbrev="MSG_FAILURE">
        <description>
          Message send request could not be fulfilled.
        </description>
      </value>
      <value id="16" name="Send Short Message" abbrev="MSG_SHORT">
        <description>
          Request message over acoustic channel. The message to send
          is specified by the 'msg' field.
        </description>
      </value>
      <value id="17" name="Initiate Reverse Range" abbrev="REVERSE_RANGE">
        <description>
          Request sending updated position to remote system so it can be ranged.
        </description>
      </value>
      <value id="18" name="Forced Abort" abbrev="FORCED_ABORT">
        <description>
          Send an abort through the acoustic channel to the system
          specified in the field 'system', ignoring safety checks such
          as "transducer not connected".
        </description>
      </value>
    </field>
    <field name="System" abbrev="system" type="plaintext">
      <description>
        The meaning of this field depends on the operation and is
        explained in the operation's description.
      </description>
    </field>
    <field name="Range" abbrev="range" type="fp32_t" unit="m">
      <description>
        The meaning of this field depends on the operation and is
        explained in the operation's description.
      </description>
    </field>
    <field name="Message To Send" abbrev="msg" type="message">
      <description>
        Argument for message send ('MSG') requests.
      </description>
    </field>
  </message>

  <message id="212" name="Acoustic Systems Query" abbrev="AcousticSystemsQuery" source="ccu,vehicle" category="Acoustic Communication">
    <description>
      Request a list of known underwater acoustic systems. The
      recipient of this message shall reply with an AcousticSystems
      message.
    </description>
  </message>

  <message id="213" name="Acoustic Systems" abbrev="AcousticSystems" source="ccu,vehicle" category="Acoustic Communication">
    <description>
      This message is sent in reply to an AcousticSystemsQuery message
      and lists all known underwater acoustic systems (modems, narrow
      band transponders, etc).
    </description>
    <field name="System List" abbrev="list" type="plaintext" unit="List">
      <description>
        Comma separated list of known acoustic system names.
      </description>
    </field>
  </message>

  <message id="214" name="Acoustic Link Quality" abbrev="AcousticLink" category="Acoustic Communication">
    <description>
      This message is used to report the perceived link quality to other
      acoustic peers.
    </description>
    <field name="Peer Name" abbrev="peer" type="plaintext">
      <description>
        The name of the peer on the other side of this link.
      </description>
    </field>
    <field name="Received Signal Strength Indicator" abbrev="rssi" type="fp32_t" unit="dB">
      <description>
        RSSI is a signed floating point number. Higher RSSI values correspond to
        stronger signals.
        The signal strength is acceptable when measured RSSI values lie between
        -20 dB and -85 dB.
      </description>
    </field>
    <field name="Signal Integrity Level" abbrev="integrity" type="uint16_t">
      <description>
        Signal Integrity value illustrates distortion of the last received
        acoustic signal. It is calculated based on cross-correlation
        measurements.
        Higher *Signal Integrity Level* values correspond to less distorted
        signals. An acoustic link is considered weak if the *Signal Integrity
        Level* value is less than 100.
      </description>
    </field>
  </message>

  <message id="215" name="Acoustic Transmission Request" abbrev="AcousticRequest" category="Acoustic Communication">
    <description>
      Request Acoustic sending.
    </description>
    <field name="Request Identifier" abbrev="req_id" type="uint16_t">
    </field>
    <field name="Destination System" abbrev="destination" type="plaintext">
      <description>
        The name of the system where to send this message.
      </description>
    </field>
    <field name="Timeout" abbrev="timeout" type="fp64_t" unit="s">
      <description> Period of time to send message (in seconds). </description>
    </field>
    <field name="Range" abbrev="range" type="fp32_t" unit="m">
      <description>
        The meaning of this field depends on the operation and is
        explained in the operation's description.
      </description>
    </field>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="TYPE">
      <value id="0" abbrev="ABORT" name="Abort"/>
      <value id="1" abbrev="RANGE" name="Range"/>
      <value id="2" abbrev="REVERSE_RANGE" name="Reverse Range"/>
      <value id="3" abbrev="MSG" name="Message"/>
      <value id="4" abbrev="RAW" name="Raw"/>
    </field>
    <field name="Message To Send" abbrev="msg" type="message">
      <description>
        Argument for message send ('MSG') or ('RAW') but in this case expects DevDataBinary message requests.
      </description>
    </field>
  </message>

  <message id="216" name="Acoustic Transmission Status" abbrev="AcousticStatus" category="Acoustic Communication">
    <description>
      Reply sent in response to a Acoustic Text sending request.
    </description>
    <field name="Request Identifier" abbrev="req_id" type="uint16_t">
    </field>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="TYPE">
      <value id="0" abbrev="ABORT" name="Abort"/>
      <value id="1" abbrev="RANGE" name="Range"/>
      <value id="2" abbrev="REVERSE_RANGE" name="Reverse Range"/>
      <value id="3" abbrev="MSG" name="Message"/>
      <value id="4" abbrev="RAW" name="Raw"/>
    </field>
    <field name="Status" abbrev="status" type="uint8_t" unit="Enumerated" prefix="STATUS">
      <value id="0" abbrev="QUEUED" name="Queued"/>
      <value id="1" abbrev="IN_PROGRESS" name="In Progress"/>
      <value id="2" abbrev="SENT" name="Sent"/>
      <value id="3" abbrev="RANGE_RECEIVED" name="Range Received"/>
      <value id="4" abbrev="DELIVERED" name="Delivered"/>
      <value id="100" abbrev="BUSY" name="Busy"/>
      <value id="101" abbrev="INPUT_FAILURE" name="Input Error"/>
      <value id="102" abbrev="ERROR" name="Error trying to send acoustic text"/>
      <value id="666" abbrev="UNSUPPORTED" name="Message Type is not defined or is unsupported"/>
    </field>
    <field name="Information" abbrev="info" type="plaintext">
      <description> Status description.</description>
    </field>
    <field name="Range" abbrev="range" type="fp32_t" unit="m">
      <description>
	        The meaning of this field depends on the operation and is
	        explained in the operation's description.
	      </description>
    </field>
  </message>

  <message id="217" name="Acoustic Release Request" abbrev="AcousticRelease" category="Acoustic Communication">
    <description>
      Request a system (local or remote) to activate its acoustic release.
    </description>
    <field name="System" abbrev="system" type="plaintext">
      <description>
        The name of the system that should execute an acoustic release.
        </description>
    </field>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="AROP">
      <value id="0" name="Open" abbrev="OPEN"/>
      <value id="1" name="Close" abbrev="CLOSE"/>
    </field>
  </message>

  <!-- Sensors -->
  <message id="250" name="Revolutions Per Minute" abbrev="Rpm" source="vehicle" category="Sensors">
    <description>
      Number of revolutions per minute.
    </description>
    <field name="Value" abbrev="value" type="int16_t" unit="rpm">
      <description>
        Number of revolutions per minute.
      </description>
    </field>
  </message>

  <message id="251" name="Voltage" abbrev="Voltage" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of electrical voltage.
    </description>
    <field name="Measured Voltage Value" abbrev="value" type="fp32_t" unit="V">
      <description>
        The value of the internal electrical voltage as measured by
        the sensor.
      </description>
    </field>
  </message>

  <message id="252" name="Current" abbrev="Current" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of electrical current.
    </description>
    <field name="Measured Current Value" abbrev="value" type="fp32_t" unit="A">
      <description>
        The value of the internal electrical current as measured by
        the sensor.
      </description>
    </field>
  </message>

  <message id="253" name="GPS Fix" abbrev="GpsFix" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of a GPS fix.
    </description>
    <field name="Validity" abbrev="validity" type="uint16_t" unit="Bitfield" prefix="GFV">
      <description>
        Validity of fields.
      </description>
      <value id="0x0001" name="Valid Date" abbrev="VALID_DATE">
        <description>
          Fields 'utc_year', 'utc_month' and 'utc_day' are valid.
        </description>
      </value>
      <value id="0x0002" name="Valid Time" abbrev="VALID_TIME">
        <description>
          Field 'utc_time' is valid.
        </description>
      </value>
      <value id="0x0004" name="Valid Position" abbrev="VALID_POS">
        <description>
          Fields 'lat', 'lon', 'altitude' and 'satellites' are valid.
        </description>
      </value>
      <value id="0x0008" name="Valid Course Over Ground" abbrev="VALID_COG">
        <description>
          Field 'cog' is valid.
        </description>
      </value>
      <value id="0x0010" name="Valid Speed Over Ground" abbrev="VALID_SOG">
        <description>
          Field 'sog' is valid.
        </description>
      </value>
      <value id="0x0020" name="Valid Horizontal Accuracy Estimate" abbrev="VALID_HACC">
        <description>
          Field 'hacc' is valid.
        </description>
      </value>
      <value id="0x0040" name="Valid Vertical Accuracy Estimate" abbrev="VALID_VACC">
        <description>
          Field 'vacc' is valid.
        </description>
      </value>
      <value id="0x0080" name="Valid Horizontal Dilution of Precision" abbrev="VALID_HDOP">
        <description>
          Field 'hdop' is valid.
        </description>
      </value>
      <value id="0x0100" name="Valid Vertical Dilution of Precision" abbrev="VALID_VDOP">
        <description>
          Field 'vdop' is valid.
        </description>
      </value>
    </field>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="GFT">
      <description>
        Type of fix.
      </description>
      <value id="0x00" name="Stand Alone" abbrev="STANDALONE">
        <description>
          Stand alone solution.
        </description>
      </value>
      <value id="0x01" name="Differential" abbrev="DIFFERENTIAL">
        <description>
          Differential solution.
        </description>
      </value>
      <value id="0x02" name="Dead Reckoning" abbrev="DEAD_RECKONING">
        <description>
          Dead reckoning solution.
        </description>
      </value>
      <value id="0x03" name="Manual Input" abbrev="MANUAL_INPUT">
        <description>
          Manual solution.
        </description>
      </value>
      <value id="0x04" name="Simulation" abbrev="SIMULATION">
        <description>
          Simulated solution.
        </description>
      </value>
    </field>
    <field name="UTC Year" abbrev="utc_year" type="uint16_t">
      <description>
        UTC year.
      </description>
    </field>
    <field name="UTC Month" abbrev="utc_month" type="uint8_t">
      <description>
        UTC month.
      </description>
    </field>
    <field name="UTC Day" abbrev="utc_day" type="uint8_t">
      <description>
        UTC day.
      </description>
    </field>
    <field name="UTC Time of Fix" abbrev="utc_time" type="fp32_t" unit="s">
      <description>
        UTC time of the GPS fix measured in seconds since 00:00:00 (midnight).
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude coordinate.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude coordinate.
      </description>
    </field>
    <field name="Height above WGS-84 ellipsoid" abbrev="height" type="fp32_t" unit="m">
      <description>
        Height above WGS-84 ellipsoid.
      </description>
    </field>
    <field name="Number of Satellites" abbrev="satellites" type="uint8_t">
      <description>
        Number of satellites used by the GPS device to compute the
        solution.
      </description>
    </field>
    <field name="Course Over Ground" abbrev="cog" type="fp32_t" unit="rad">
      <description>
        Course Over Ground (true).
      </description>
    </field>
    <field name="Speed Over Ground" abbrev="sog" type="fp32_t" unit="m/s">
      <description>
        Speed Over Ground.
      </description>
    </field>
    <field name="Horizontal Dilution of Precision" abbrev="hdop" type="fp32_t">
      <description>
        Horizontal dilution of precision.
      </description>
    </field>
    <field name="Vertical Dilution of Precision" abbrev="vdop" type="fp32_t">
      <description>
        Vertical dilution of precision.
      </description>
    </field>
    <field name="Horizontal Accuracy Estimate" abbrev="hacc" type="fp32_t" unit="m">
      <description>
        Horizontal Accuracy Estimate.
      </description>
    </field>
    <field name="Vertical Accuracy Estimate" abbrev="vacc" type="fp32_t" unit="m">
      <description>
        Vertical Accuracy Estimate.
      </description>
    </field>
  </message>

  <message id="254" name="Euler Angles" abbrev="EulerAngles" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of spatial orientation according to SNAME's notation
      (1950).
    </description>
    <field name="Device Time" abbrev="time" type="fp64_t" unit="s">
      <description>
        The device time.
      </description>
    </field>
    <field name="Roll Angle" abbrev="phi" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        Rotation around the vehicle longitudinal axis.
      </description>
    </field>
    <field name="Pitch Angle" abbrev="theta" type="fp64_t" unit="rad" min="-1.57079632679490" max="1.57079632679490">
      <description>
        Rotation around the vehicle lateral or transverse axis.
      </description>
    </field>
    <field name="Yaw Angle (True)" abbrev="psi" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        Rotation around the vehicle vertical axis. A value of 0 means
        the vehicle is oriented towards true north. In cases where the
        sensor cannot measure the true heading, this field will have
        the same value as Yaw (Magnetic).
      </description>
    </field>
    <field name="Yaw Angle (Magnetic)" abbrev="psi_magnetic" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        Rotation around the vehicle vertical axis. A value of 0 means
        the vehicle is oriented towards magnetic north. In cases where
        the sensor cannot measure the magnetic heading, this field
        will have the same value as Yaw (True).
      </description>
    </field>
  </message>

  <message id="255" name="Euler Angles Delta" abbrev="EulerAnglesDelta" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Component of incremetal orientation vector over a period of time.
    </description>
    <field name="Device Time" abbrev="time" type="fp64_t" unit="s">
      <description>
        The device time.
      </description>
    </field>
    <field name="X" abbrev="x" type="fp64_t" unit="rad">
      <description>
        X component.
      </description>
    </field>
    <field name="Y" abbrev="y" type="fp64_t" unit="rad">
      <description>
        Y component.
      </description>
    </field>
    <field name="Z" abbrev="z" type="fp64_t" unit="rad">
      <description>
        Z component.
      </description>
    </field>
    <field name="Timestep" abbrev="timestep" type="fp32_t" unit="s">
      <description>
        Period of time of the orientation vector increments.
      </description>
    </field>
  </message>

  <message id="256" name="Angular Velocity" abbrev="AngularVelocity" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Vector quantifying the direction and magnitude of the measured
      angular velocity that a device is exposed to.
    </description>
    <field name="Device Time" abbrev="time" type="fp64_t" unit="s">
      <description>
        The device time.
      </description>
    </field>
    <field name="X" abbrev="x" type="fp64_t" unit="rad/s">
      <description>
        X component.
      </description>
    </field>
    <field name="Y" abbrev="y" type="fp64_t" unit="rad/s">
      <description>
        Y component.
      </description>
    </field>
    <field name="Z" abbrev="z" type="fp64_t" unit="rad/s">
      <description>
        Z component.
      </description>
    </field>
  </message>

  <message id="257" name="Acceleration" abbrev="Acceleration" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Vector quantifying the direction and magnitude of the measured
      acceleration that a device is exposed to.
    </description>
    <field name="Device Time" abbrev="time" type="fp64_t" unit="s">
      <description>
        The device time.
      </description>
    </field>
    <field name="X" abbrev="x" type="fp64_t" unit="m/s/s">
      <description>
        X component.
      </description>
    </field>
    <field name="Y" abbrev="y" type="fp64_t" unit="m/s/s">
      <description>
        Y component.
      </description>
    </field>
    <field name="Z" abbrev="z" type="fp64_t" unit="m/s/s">
      <description>
        Z component.
      </description>
    </field>
  </message>

  <message id="258" name="Magnetic Field" abbrev="MagneticField" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Vector quantifying the direction and magnitude of the measured
      magnetic field that a device is exposed to.
    </description>
    <field name="Device Time" abbrev="time" type="fp64_t" unit="s">
      <description>
        The device time.
      </description>
    </field>
    <field name="X" abbrev="x" type="fp64_t" unit="G">
      <description>
        X component.
      </description>
    </field>
    <field name="Y" abbrev="y" type="fp64_t" unit="G">
      <description>
        Y component.
      </description>
    </field>
    <field name="Z" abbrev="z" type="fp64_t" unit="G">
      <description>
        Z component.
      </description>
    </field>
  </message>

  <message id="259" name="Ground Velocity" abbrev="GroundVelocity" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Vector quantifying the direction and magnitude of the measured
      velocity relative to the ground that a device is exposed to.
    </description>
    <field name="Validity" abbrev="validity" unit="Bitfield" type="uint8_t" prefix="VAL">
      <description>
        Each bit of this field represents if a given velocity
        component is valid.
      </description>
      <value id="0x01" abbrev="VEL_X" name="X component is valid"/>
      <value id="0x02" abbrev="VEL_Y" name="Y component is valid"/>
      <value id="0x04" abbrev="VEL_Z" name="Z component is valid"/>
    </field>
    <field name="X" abbrev="x" type="fp64_t" unit="m/s">
      <description>
        X component.
      </description>
    </field>
    <field name="Y" abbrev="y" type="fp64_t" unit="m/s">
      <description>
        Y component.
      </description>
    </field>
    <field name="Z" abbrev="z" type="fp64_t" unit="m/s">
      <description>
        Z component.
      </description>
    </field>
  </message>

  <message id="260" name="Water Velocity" abbrev="WaterVelocity" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Vector quantifying the direction and magnitude of the measured
      velocity relative to the water that a device is exposed to.
    </description>
    <field name="Validity" abbrev="validity" unit="Bitfield" type="uint8_t" prefix="VAL">
      <description>
        Each bit of this field represents if a given velocity
        component is valid.
      </description>
      <value id="0x01" abbrev="VEL_X" name="X component is valid"/>
      <value id="0x02" abbrev="VEL_Y" name="Y component is valid"/>
      <value id="0x04" abbrev="VEL_Z" name="Z component is valid"/>
    </field>
    <field name="X" abbrev="x" type="fp64_t" unit="m/s">
      <description>
        X component.
      </description>
    </field>
    <field name="Y" abbrev="y" type="fp64_t" unit="m/s">
      <description>
        Y component.
      </description>
    </field>
    <field name="Z" abbrev="z" type="fp64_t" unit="m/s">
      <description>
        Z component.
      </description>
    </field>
  </message>

  <message id="261" name="Velocity Delta" abbrev="VelocityDelta" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Component of incremetal velocity vector.
    </description>
    <field name="Device Time" abbrev="time" type="fp64_t" unit="s">
      <description>
        The device time.
      </description>
    </field>
    <field name="X" abbrev="x" type="fp64_t" unit="m/s">
      <description>
        X component.
      </description>
    </field>
    <field name="Y" abbrev="y" type="fp64_t" unit="m/s">
      <description>
        Y component.
      </description>
    </field>
    <field name="Z" abbrev="z" type="fp64_t" unit="m/s">
      <description>
        Z component.
      </description>
    </field>
  </message>

  <message id="262" name="Distance" abbrev="Distance" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Distance measurement detected by the device.
    </description>
    <field name="Validity" abbrev="validity" type="uint8_t" unit="Enumerated" prefix="DV">
      <description>
        Validity of the measurement.
      </description>
      <value id="0" name="Invalid" abbrev="INVALID">
        <description>
          Measurement is invalid.
        </description>
      </value>
      <value id="1" name="Valid" abbrev="VALID">
        <description>
          Measurement is valid.
        </description>
      </value>
    </field>
    <field name="Location" abbrev="location" type="message-list" message-type="DeviceState">
      <description>
        Device Location in the system.
      </description>
    </field>
    <field name="Beam Configuration" abbrev="beam_config" type="message-list" message-type="BeamConfig">
      <description>
        Beam configuration of the device.
      </description>
    </field>
    <field name="Measured Distance" abbrev="value" type="fp32_t" unit="m">
      <description>
        Measured distance.
      </description>
    </field>
  </message>

  <message id="263" name="Temperature" abbrev="Temperature" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of temperature.
    </description>
    <field name="Measured Temperature" abbrev="value" type="fp32_t" unit="°C">
      <description>
        The value of the temperature as measured by the sensor.
      </description>
    </field>
  </message>

  <message id="264" name="Pressure" abbrev="Pressure" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of external pressure.
    </description>
    <field name="Measured Pressure" abbrev="value" type="fp64_t" unit="hPa">
      <description>
        The value of the pressure as measured by the sensor.
      </description>
    </field>
  </message>

  <message id="265" name="Depth" abbrev="Depth" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Depth report.
    </description>
    <field name="Measured Depth" abbrev="value" type="fp32_t" unit="m">
      <description>
        Depth value measured by a sensor.
      </description>
    </field>
  </message>

  <message id="266" name="Depth Offset" abbrev="DepthOffset" source="vehicle" category="Sensors">
    <description>
      Report of Depth Offset.
    </description>
    <field name="Measured Offset" abbrev="value" type="fp32_t" unit="m">
      <description>
        Depth offset.
      </description>
    </field>
  </message>

  <message id="267" name="Sound Speed" abbrev="SoundSpeed" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Sound Speed report.
    </description>
    <field name="Computed Sound Speed" abbrev="value" type="fp32_t" unit="m/s">
      <description>
        Estimated sound speed. Negative values denote invalid estimates.
      </description>
    </field>
  </message>

  <message id="268" name="Water Density" abbrev="WaterDensity" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Water Density report.
    </description>
    <field name="Computed Water Density" abbrev="value" type="fp32_t" unit="kg/m/m/m">
      <description>
        Computed Water Density.
      </description>
    </field>
  </message>

  <message id="269" name="Conductivity" abbrev="Conductivity" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of conductivity.
    </description>
    <field name="Measured Conductivity" abbrev="value" type="fp32_t" unit="S/m">
      <description>
        The value of the conductivity as measured by the sensor.
      </description>
    </field>
  </message>

  <message id="270" name="Salinity" abbrev="Salinity" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of salinity.
    </description>
    <field name="Measured Salinity" abbrev="value" type="fp32_t" unit="PSU">
      <description>
        The value of the salinity as measured by the sensor.
      </description>
    </field>
  </message>

  <message id="271" name="Wind Speed" abbrev="WindSpeed" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Measurement of wind speed.
    </description>
    <field name="Direction" abbrev="direction" type="fp32_t" unit="rad">
      <description>
        Direction of the measured wind speed.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t" unit="m/s">
      <description>
        The value of the wind speed as measured by the sensor.
      </description>
    </field>
    <field name="Turbulence" abbrev="turbulence" type="fp32_t" unit="m/s">
      <description>
        Wind turbulence intensity.
      </description>
    </field>
  </message>

  <message id="272" name="Relative Humidity" abbrev="RelativeHumidity" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Measurement of relative humidity.
    </description>
    <field name="Relative Humidity Value" abbrev="value" type="fp32_t" min="0" max="100">
      <description>
        Value of relative humidity.
      </description>
    </field>
  </message>

  <message id="273" name="Device Data (Text)" abbrev="DevDataText" source="vehicle" category="Sensors">
    <description>
      Verbatim representation of device data in plain text format.
    </description>
    <field name="Value" abbrev="value" type="plaintext">
      <description>
        Plain text data as extracted directly from the device.
      </description>
    </field>
  </message>

  <message id="274" name="Device Data (Binary)" abbrev="DevDataBinary" source="vehicle" category="Sensors">
    <description>
      Verbatim representation of device data in binary format.
    </description>
    <field name="Value" abbrev="value" type="rawdata">
      <description>
        Raw binary data as extracted directly from the device.
      </description>
    </field>
  </message>

  <message id="275" name="Force" abbrev="Force" source="vehicle" category="Sensors">
    <description>
      Force measurement.
    </description>
    <field name="Measured Force" abbrev="value" type="fp32_t" unit="N">
      <description>
        Force magnitude.
      </description>
    </field>
  </message>

  <message id="276" name="Sonar Data" abbrev="SonarData" source="vehicle" flags="periodic" category="Sensors">
    <description>
      This message contains the data acquired by a single sonar
      measurement. The following describes the format used to
      fill the data field used in this message. (Byte order is
      little endian.)

      **Sidescan:**

      +------+-------------------+-----------+
      | Data | Name              | Type      |
      +======+===================+===========+
      | A    | Ranges data       |   uintX_t |
      +------+-------------------+-----------+

      .. figure:: ../images/imc_sidescan.png

      * 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.

      **Multibeam:**

      +------+--------+-------------------------+---------+----------------------------------------------------------------------+
      | Index| Section| Name                    | Type    | Comments                                                             |
      +======+========+=========================+=========+======================================================================+
      | 1    | H1     | Number of points        | uint16_t| Number of data points                                                |
      +------+--------+-------------------------+---------+----------------------------------------------------------------------+
      | 2    | H2     | Start angle             | fp32_t  | In radians                                                           |
      +------+--------+-------------------------+---------+----------------------------------------------------------------------+
      | 3    | H3     | Flags                   | uint8_t | Refer to next table                                                  |
      +------+--------+-------------------------+---------+----------------------------------------------------------------------+
      | 4    | H4 ?   | Angle scale factor      | fp32_t  | Used for angle steps in radians                                      |
      +------+--------+-------------------------+---------+----------------------------------------------------------------------+
      | 5    | H5 ?   | Intensities scale factor| fp32_t  |                                                                      |
      +------+--------+-------------------------+---------+----------------------------------------------------------------------+
      | 6    | D1 ?   | Angle steps[H1]         | uint16_t| Values in radians                                                    |
      +------+--------+-------------------------+---------+----------------------------------------------------------------------+
      | 7    | D2     | Ranges[H1]              | uintX_t | Ranges data points (scale factor from common field "Scaling Factor") |
      +------+--------+-------------------------+---------+----------------------------------------------------------------------+
      | 8    | D3 ?   | Intensities[H1]         | uintX_t | Intensities data points                                              |
      +------+--------+-------------------------+---------+----------------------------------------------------------------------+

      +--------+------------------+-----+
      | Section| Flag Label       | Bit |
      +========+==================+=====+
      | H3.1   | Intensities flag | 0   |
      +--------+------------------+-----+
      | H3.2   | Angle step flag  | 1   |
      +--------+------------------+-----+

      .. figure:: ../images/imc_multibeam.png

      *Notes:*

      * Each angle at step *i* can be calculated is defined by:

      .. code-block:: python

         angle[i] = H2_start_angle + (32-bit sum of D1_angle_step[0] through D1_angle_step[i]) * H4_scaling_factor

      * 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.

      *How to write ranges and intensities data:*

      .. code-block:: python
         :linenos:


         data_unit = (Integer) (data_value / scale_factor);
         bytes_per_unit = bits_per_unit / 8;
         LOOP: i = 0, until i = bytes_per_unit
             byte[i] = (data_unit >> 8 * i) &amp; 0xFF);

         write(byte);

      **Common:**

    </description>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="ST">
      <description>
        Type of sonar.
      </description>
      <value id="0" name="Sidescan" abbrev="SIDESCAN"/>
      <value id="1" name="Echo Sounder" abbrev="ECHOSOUNDER"/>
      <value id="2" name="Multibeam" abbrev="MULTIBEAM"/>
    </field>
    <field name="Frequency" abbrev="frequency" type="uint32_t" unit="Hz">
      <description>
        Operating frequency.
      </description>
    </field>
    <field name="Minimum Range" abbrev="min_range" type="uint16_t" unit="m">
      <description>
        Minimum range.
      </description>
    </field>
    <field name="Maximum Range" abbrev="max_range" type="uint16_t" unit="m">
      <description>
        Maximum range.
      </description>
    </field>
    <field name="Bits Per Data Point" abbrev="bits_per_point" type="uint8_t" unit="bit">
      <description>
        Size of the data unit. (Should be multiple of 8)
      </description>
    </field>
    <field name="Scaling Factor" abbrev="scale_factor" type="fp32_t">
      <description>
        Scaling factor used to multiply each data unit to restore the
        original floating point value.
      </description>
    </field>
    <field name="Beam Configuration" abbrev="beam_config" type="message-list" message-type="BeamConfig">
      <description>
        Beam configuration of the device.
      </description>
    </field>
    <field name="Data" abbrev="data" type="rawdata">
      <description>
        Data acquired by the measurement.
      </description>
    </field>
  </message>

  <message id="277" name="Pulse" abbrev="Pulse" source="vehicle,ccu" flags="periodic" category="Sensors">
    <description>
      Hardware pulse detection.
    </description>
  </message>

  <message id="278" name="Pulse Detection Control" abbrev="PulseDetectionControl" source="vehicle,ccu" category="Sensors">
    <description>
      Control of hardware pulse detection.
    </description>
    <field name="Operation" abbrev="op" type="uint8_t" prefix="POP" unit="Enumerated">
      <description>
        Activate or deactivate hardware pulse detection.
      </description>
      <value id="0" abbrev="OFF" name="Pulse Detection OFF"/>
      <value id="1" abbrev="ON" name="Pulse Detection ON"/>
    </field>
  </message>

  <message id="279" name="Fuel Level" abbrev="FuelLevel" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of fuel level.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="%" min="0" max="100">
      <description>
        Fuel level percentage of the system.
      </description>
    </field>
    <field name="Confidence Level" abbrev="confidence" type="fp32_t" unit="%" min="0" max="100">
      <description>
        Percentage level of confidence in the estimation of the amount
        of energy in the batteries.
      </description>
    </field>
    <field name="Operation Modes" abbrev="opmodes" type="plaintext" unit="TupleList">
      <description>
        Operation mode name and the estimated time available in that
        mode in hours. Example: "Motion=1.5"
      </description>
    </field>
  </message>

  <message id="280" name="GPS Navigation Data" abbrev="GpsNavData" category="Sensors">
    <description>
      Report of GPS navigation data.
    </description>
    <field name="GPS Millisecond Time of Week" abbrev="itow" type="uint32_t" unit="ms">
      <description>
        GPS Millisecond Time of Week.
      </description>
    </field>
    <field name="Latitude" abbrev="lat" type="fp64_t" unit="rad">
      <description>
        Latitude.
      </description>
    </field>
    <field name="Longitude" abbrev="lon" type="fp64_t" unit="rad">
      <description>
        Longitude.
      </description>
    </field>
    <field name="Height above ellipsoid" abbrev="height_ell" type="fp32_t" unit="m">
      <description>
        Height Above Ellipsoid.
      </description>
    </field>
    <field name="Height above sea level" abbrev="height_sea" type="fp32_t" unit="m">
      <description>
        Height Above Sea Level.
      </description>
    </field>
    <field name="Horizontal Accuracy Estimate" abbrev="hacc" type="fp32_t" unit="m">
      <description>
        Horizontal Accuracy Estimate.
      </description>
    </field>
    <field name="Vertical Accuracy Estimate" abbrev="vacc" type="fp32_t" unit="m">
      <description>
        Vertical Accuracy Estimate.
      </description>
    </field>
    <field name="NED North Velocity" abbrev="vel_n" type="fp32_t" unit="m/s">
      <description>
        NED North Velocity.
      </description>
    </field>
    <field name="NED East Velocity" abbrev="vel_e" type="fp32_t" unit="m/s">
      <description>
        NED East Velocity.
      </description>
    </field>
    <field name="NED Down Velocity" abbrev="vel_d" type="fp32_t" unit="m/s">
      <description>
        NED Down Velocity.
      </description>
    </field>
    <field name="Speed (3D)" abbrev="speed" type="fp32_t" unit="m/s">
      <description>
        NED Down Velocity.
      </description>
    </field>
    <field name="Ground Speed (2D)" abbrev="gspeed" type="fp32_t" unit="m/s">
      <description>
        NED Down Velocity.
      </description>
    </field>
    <field name="Heading (2D)" abbrev="heading" type="fp32_t" unit="rad">
      <description>
        NED Down Velocity.
      </description>
    </field>
    <field name="Speed Accuracy Estimate" abbrev="sacc" type="fp32_t" unit="m/s">
      <description>
        NED Down Velocity.
      </description>
    </field>
    <field name="Course / Heading Accuracy Estimate" abbrev="cacc" type="fp32_t" unit="rad">
      <description>
        Course / Heading Accuracy Estimate.
      </description>
    </field>
  </message>

  <message id="281" name="Servo Position" abbrev="ServoPosition" source="vehicle" category="Sensors">
    <description>
      Actual position of a servo.
    </description>
    <field name="Identifier" abbrev="id" type="uint8_t">
      <description>
        Servo identifier.
      </description>
    </field>
    <field name="Position" abbrev="value" type="fp32_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        Value of the servo position.
      </description>
    </field>
  </message>

  <message id="282" name="Device State" abbrev="DeviceState" source="vehicle" category="Sensors">
    <description>
      Location of a specific device in the system infrastructure.
    </description>
    <field name="Device Position - X" abbrev="x" type="fp32_t" unit="m">
      <description>
        Device's position over the X axis.
      </description>
    </field>
    <field name="Device Position - Y" abbrev="y" type="fp32_t" unit="m">
      <description>
        Device's position over the Y axis.
      </description>
    </field>
    <field name="Device Position - Z" abbrev="z" type="fp32_t" unit="m">
      <description>
        Device's position over the Z axis.
      </description>
    </field>
    <field name="Device Rotation - X" abbrev="phi" type="fp32_t" unit="rad">
      <description>
        Device's rotation over the X axis.
      </description>
    </field>
    <field name="Device Rotation - Y" abbrev="theta" type="fp32_t" unit="rad">
      <description>
        Device's rotation over the Y axis.
      </description>
    </field>
    <field name="Device Rotation - Z" abbrev="psi" type="fp32_t" unit="rad">
      <description>
        Device's rotation over the Z axis.
      </description>
    </field>
  </message>

  <message id="283" name="Beam Configuration" abbrev="BeamConfig" source="vehicle" category="Sensors">
    <description>
      Beam configuration of the device.
    </description>
    <field name="Beam Width" abbrev="beam_width" type="fp32_t" unit="rad" min="0" max="3.141592653589793">
      <description>
        Beam width of the instrument. A negative number denotes that
        this information is not available or is not applicable.
      </description>
    </field>
    <field name="Beam Height" abbrev="beam_height" type="fp32_t" unit="rad" min="0" max="3.141592653589793">
      <description>
        Beam height of the instrument. A negative number denotes that
        this information is not available or is not applicable.
      </description>
    </field>
  </message>

  <message id="284" name="Data Sanity" abbrev="DataSanity" category="Sensors">
    <description>
      Report sanity or lack of it in the data output by a sensor.
    </description>
    <field name="Sanity" abbrev="sane" type="uint8_t" unit="Enumerated" prefix="DS">
      <description>
        Whether the data is sane or not sane.
      </description>
      <value id="0" abbrev="SANE" name="Sane">
        <description>
          Data is sane.
        </description>
      </value>
      <value id="1" abbrev="NOT_SANE" name="Not Sane">
        <description>
          Data is not sane.
        </description>
      </value>
    </field>
  </message>

  <message id="285" name="Rhodamine Dye" abbrev="RhodamineDye" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Rhodamine Dye measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="PPB">
      <description>
        Amount of rhodamine dye detected.
      </description>
    </field>
  </message>

  <message id="286" name="Crude Oil" abbrev="CrudeOil" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Crude oil measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="PPB">
      <description>
        Amount of crude oil detected.
      </description>
    </field>
  </message>

  <message id="287" name="Fine Oil" abbrev="FineOil" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Fine oil measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="PPB">
      <description>
        Amount of fine oil detected.
      </description>
    </field>
  </message>

  <message id="288" name="Turbidity" abbrev="Turbidity" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Turbidity measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="NTU">
      <description>
        Turbidity reading.
      </description>
    </field>
  </message>

  <message id="289" name="Chlorophyll" abbrev="Chlorophyll" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Chlorophyll measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="µg/L">
      <description>
        Chlorophyll reading.
      </description>
    </field>
  </message>

  <message id="290" name="Fluorescein" abbrev="Fluorescein" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Fluorescein measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="PPB">
      <description>
        Fluorescein reading.
      </description>
    </field>
  </message>

  <message id="291" name="Phycocyanin" abbrev="Phycocyanin" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Phycocyanin measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="PPB">
      <description>
        Phycocyanin reading.
      </description>
    </field>
  </message>

  <message id="292" name="Phycoerythrin" abbrev="Phycoerythrin" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Phycoerythrin measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="PPB">
      <description>
        Phycoerythrin reading.
      </description>
    </field>
  </message>

  <message id="293" name="GPS Fix RTK" abbrev="GpsFixRtk" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of an RTK-GPS fix.
    </description>
    <field name="Validity" abbrev="validity" type="uint16_t" unit="Bitfield" prefix="RFV">
      <description>
        Validity of fields.
      </description>
      <value id="0x0001" name="Valid Time" abbrev="VALID_TIME">
        <description>
          Field 'tow' is valid.
        </description>
      </value>
      <value id="0x0002" name="Valid Base LLH" abbrev="VALID_BASE">
        <description>
          Fields 'base_lat', 'base_lon' and 'base_height' are valid.
        </description>
      </value>
      <value id="0x0004" name="Valid Position" abbrev="VALID_POS">
        <description>
          Fields 'n', 'e', 'd' are valid.
        </description>
      </value>
      <value id="0x0008" name="Valid Velocity" abbrev="VALID_VEL">
        <description>
          Fields 'v_n', 'v_e', 'v_d' are valid.
        </description>
      </value>
    </field>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="RTK">
      <description>
        Type of fix.
      </description>
      <value id="0x00" name="None" abbrev="NONE">
        <description>
          No solution, but RTK task is running.
        </description>
      </value>
      <value id="0x01" name="Obs" abbrev="OBS">
        <description>
          No solution, but receiving observations.
        </description>
      </value>
      <value id="0x02" name="Float" abbrev="FLOAT">
        <description>
          Floating point solution of IAR.
        </description>
      </value>
      <value id="0x03" name="Fixed" abbrev="FIXED">
        <description>
          Fixed (single) solution of IAR.
        </description>
      </value>
    </field>
    <field name="GPS Time of Week" abbrev="tow" type="uint32_t">
      <description>
        GPS Time of Week.
      </description>
    </field>
    <field name="Base Latitude WGS-84" abbrev="base_lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude coordinate of the base.
      </description>
    </field>
    <field name="Base Longitude WGS-84" abbrev="base_lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude coordinate of the base.
      </description>
    </field>
    <field name="Base Height above WGS-84 ellipsoid" abbrev="base_height" type="fp32_t" unit="m">
      <description>
        Height above WGS-84 ellipsoid of the base.
      </description>
    </field>
    <field name="Position North" abbrev="n" type="fp32_t" unit="m">
      <description>
        Baseline North coordinate.
      </description>
    </field>
    <field name="Position East" abbrev="e" type="fp32_t" unit="m">
      <description>
        Baseline East coordinate.
      </description>
    </field>
    <field name="Position Down" abbrev="d" type="fp32_t" unit="m">
      <description>
        Baseline Down coordinate.
      </description>
    </field>
    <field name="Velocity North" abbrev="v_n" type="fp32_t" unit="m/s">
      <description>
        Velocity North coordinate.
      </description>
    </field>
    <field name="Velocity East" abbrev="v_e" type="fp32_t" unit="m/s">
      <description>
        Velocity East coordinate.
      </description>
    </field>
    <field name="Velocity Down" abbrev="v_d" type="fp32_t" unit="m/s">
      <description>
        Velocity Down coordinate.
      </description>
    </field>
    <field name="Number of Satellites" abbrev="satellites" type="uint8_t">
      <description>
        Number of satellites used in solution.
      </description>
    </field>
    <field name="IAR Hypotheses" abbrev="iar_hyp" type="uint16_t">
      <description>
        Number of hypotheses in the Integer Ambiguity Resolution (smaller is better).
      </description>
    </field>
    <field name="IAR Ratio" abbrev="iar_ratio" type="fp32_t">
      <description>
        Quality ratio of Integer Ambiguity Resolution (bigger is better).
      </description>
    </field>
  </message>

  <message id="294" name="External Navigation Data" abbrev="ExternalNavData" source="vehicle" flags="periodic" category="Sensors">
      <description>
          This message is a representation of the state of the vehicle,
          as seen by an external navigation computer.

          An example usage is when DUNE is used with ardupilot. The
          data gathered from the autopilot is a complete navigation
          solution.

          ExternalNavData contains an inline Estimated State, which
          is a complete description of the system
          in terms of parameters such as position, orientation and
          velocities at a particular moment in time.

          The Type field selects wether the navigation data is a
          full state estimation, or only concerns attitude or
          position/velocity.

      </description>
      <field name="Estimated State" abbrev="state" type="message" message-type="EstimatedState">
          <description>
              External Navigation Data.
          </description>
      </field>
      <field name="Nav Data Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="EXTNAV">
          <description>
              The type of external navigation data
          </description>
          <value id="0" name="Full State" abbrev="FULL"/>
          <value id="1" name="Attitude Heading Reference System Only" abbrev="AHRS"/>
          <value id="2" name="Position Reference System only" abbrev="POSREF"/>
      </field>
  </message>

  <message id="295" name="Dissolved Oxygen" abbrev="DissolvedOxygen" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Dissolved Oxygen measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="µM">
      <description>
        Dissolved Oxygen reading.
      </description>
    </field>
  </message>

  <message id="296" name="Air Saturation" abbrev="AirSaturation" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Air Saturation measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="%">
      <description>
        Air Saturation reading.
      </description>
    </field>
  </message>

  <message id="297" name="Throttle" abbrev="Throttle" source="vehicle" category="Sensors">
    <description>
      Throttle e.g. for Plane/Copter .
    </description>
    <field name="Value" abbrev="value" type="fp64_t" unit="%">
      <description>
        The value of the desired throttle.
      </description>
    </field>
  </message>

  <message id="298" name="pH" abbrev="PH" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of pH.
    </description>
    <field name="Value" abbrev="value" type="fp32_t">
      <description>
        The value of the pH as measured by the sensor.
      </description>
    </field>
  </message>

  <message id="299" name="Redox Potential" abbrev="Redox" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Report of Redox Potential.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="V">
      <description>
        The value of the Redox as measured by the sensor.
      </description>
    </field>
  </message>

  <!-- Actuation -->
  <message id="300" name="Camera Zoom" abbrev="CameraZoom" source="vehicle" category="Actuation">
    <description>
      Camera Zoom.
    </description>
    <field name="Camera Number" abbrev="id" type="uint8_t">
      <description>
        The identification number of the destination camera.
      </description>
    </field>
    <field name="Absolute Zoom Level" abbrev="zoom" type="uint8_t">
      <description>
        Absolute zoom level.
      </description>
    </field>
    <field name="Action" abbrev="action" type="uint8_t" unit="Enumerated" prefix="ACTION">
      <description>
        The zoom action to perform.
      </description>
      <value id="0" name="Reset Zoom" abbrev="ZOOM_RESET"/>
      <value id="1" name="Zoom In" abbrev="ZOOM_IN"/>
      <value id="2" name="Zoom Out" abbrev="ZOOM_OUT"/>
      <value id="3" name="Stop Zooming" abbrev="ZOOM_STOP"/>
    </field>
  </message>

  <message id="301" name="Set Thruster Actuation" abbrev="SetThrusterActuation" source="vehicle" category="Actuation">
    <description>
      Actuate directly on a thruster.
    </description>
    <field name="Thruster Number" abbrev="id" type="uint8_t">
      <description>
        The identification number of the destination thruster.
      </description>
    </field>
    <field name="Actuation Value" abbrev="value" type="fp32_t" min="-1" max="1">
      <description>
        Actuation magnitude.
      </description>
    </field>
  </message>

  <message id="302" name="Set Servo Position" abbrev="SetServoPosition" source="vehicle" category="Actuation">
    <description>
      Set the position of a servo.
    </description>
    <field name="Identifier" abbrev="id" type="uint8_t">
      <description>
        The identification number of the destination servo.
      </description>
    </field>
    <field name="Position" abbrev="value" type="fp32_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        Actuation magnitude.
      </description>
    </field>
  </message>

  <message id="303" name="Set Control Surface Deflection" abbrev="SetControlSurfaceDeflection" source="vehicle" category="Actuation">
    <description>
      Set the deflection angle of a control surface.
    </description>
    <field name="Identifier" abbrev="id" type="uint8_t">
      <description>
        The identification number of the destination control surface.
      </description>
    </field>
    <field name="Angle" abbrev="angle" type="fp32_t" unit="rad">
      <description>
        Actuation magnitude.
      </description>
    </field>
  </message>

  <message id="304" name="Remote Actions Request" abbrev="RemoteActionsRequest" source="vehicle,ccu" category="Actuation">
    <description>
      This message is used as query to request for the possible remote
      actions (operation=QUERY and the list is empty in this
      case). The vehicle responds using the same message type
      returning the tuplelist with the pairs: Action,Type
      (operation=REPORT). The type of action can be Axis, Hat or
      Button.
    </description>
    <field name="operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Operation to perform.
      </description>
      <value abbrev="REPORT" name="Report" id="0"/>
      <value abbrev="QUERY" name="Query" id="1"/>
    </field>
    <field name="Actions" abbrev="actions" type="plaintext" unit="TupleList">
      <description>
        Example: "Propulsion=Axis,PanTilt=Hat,Lights=Button"
      </description>
    </field>
  </message>

  <message id="305" name="Remote Actions" abbrev="RemoteActions" source="ccu" flags="periodic" category="Actuation">
    <description>
      This message is used to send a periodic update of values for
      each remote action. If the action is not on the list the assumed
      value is 0.
    </description>
    <field name="Actions" abbrev="actions" type="plaintext" unit="TupleList">
      <description>
        List of values for each remote action (e.g: "Propeller=0.6,PanTilt=0.75,Lights=1").
      </description>
    </field>
  </message>

  <message id="306" name="Button Event" abbrev="ButtonEvent" source="vehicle" category="Actuation">
    <description>
      Event of a specific hardware button.
    </description>
    <field name="Button" abbrev="button" type="uint8_t">
      <description>
        Button identifier.
      </description>
    </field>
    <field name="Value" abbrev="value" type="uint8_t">
      <description>
        Value of the button.
      </description>
    </field>
  </message>

  <message id="307" name="LCD Control" abbrev="LcdControl" source="vehicle" category="Actuation">
    <description>
      Control LCD.
    </description>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        The LCD action to perform
      </description>
      <value id="0" name="Turn off display" abbrev="TURN_OFF"/>
      <value id="1" name="Turn on display" abbrev="TURN_ON"/>
      <value id="2" name="Clear display" abbrev="CLEAR"/>
      <value id="3" name="Write Line #0" abbrev="WRITE0"/>
      <value id="4" name="Write Line #1" abbrev="WRITE1"/>
    </field>
    <field name="Text" abbrev="text" type="plaintext">
      <description>
        Text to be written (if defined write operation).
      </description>
    </field>
  </message>

  <message id="308" name="Power Operation" abbrev="PowerOperation" source="vehicle" category="Actuation">
    <description>
      This message allows controlling the system's power lines.
    </description>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="POP">
      <description>
        Operation type.
      </description>
      <value id="0" name="Power Down" abbrev="PWR_DOWN">
        <description>
          Request the destination entity of this message to power down
          it's devices immediately. If the destination entity is the
          special entity '0' the whole system will power down.
        </description>
      </value>
      <value id="1" name="Power Down in Progress" abbrev="PWR_DOWN_IP">
        <description>
          The latest power down request is in progress and the time
          remaining until power down is given in field 'time_remain'.
        </description>
      </value>
      <value id="2" name="Power Down Aborted" abbrev="PWR_DOWN_ABORTED">
        <description>
          The latest power down request was aborted.
        </description>
      </value>
      <value id="3" name="Schedule Power Down" abbrev="SCHED_PWR_DOWN">
        <description>
          Request the destination entity of this message to power down
          it's devices at the time given in the field 'sched_time'. If
          the destination entity is the special entity '0' the whole
          system will power down.
        </description>
      </value>
      <value id="4" name="Power Up" abbrev="PWR_UP">
        <description>
          Request the destination entity of this message to power up
          it's devices.
        </description>
      </value>
      <value id="5" name="Power Up in Progress" abbrev="PWR_UP_IP">
        <description>
          The latest power up request is in progress.
        </description>
      </value>
      <value id="6" name="Schedule Power Up" abbrev="SCHED_PWR_UP">
        <description>
          Request the destination entity of this message to power up
          it's devices at the time given in the field 'sched_time'. If
          the destination entity is the special entity '0' the whole
          system will power up.
        </description>
      </value>
    </field>
    <field name="Time Remaining" abbrev="time_remain" type="fp32_t" unit="s">
      <description>
        Time remaining to complete operation.
      </description>
    </field>
    <field name="Scheduled Time" abbrev="sched_time" type="fp64_t" unit="s">
      <description>
        Scheduled time of operation.
      </description>
    </field>
  </message>

  <message id="309" name="Power Channel Control" abbrev="PowerChannelControl" source="vehicle,ccu" category="Actuation">
    <description>
      This message allows controlling power channels.
    </description>
    <field name="Channel Name" abbrev="name" type="plaintext">
      <description>
        The name of the power channel.
      </description>
    </field>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" max="6" prefix="PCC_OP">
      <description>
        Operation to perform.
      </description>
      <value id="0" name="Turn Off" abbrev="TURN_OFF">
        <description>
          Turn off power channel specified in field 'id'.
        </description>
      </value>
      <value id="1" name="Turn On" abbrev="TURN_ON">
        <description>
          Turn on power channel specified in field 'id'.
        </description>
      </value>
      <value id="2" name="Toggle" abbrev="TOGGLE">
        <description>
          Toggle power channel specified in field 'id'.
        </description>
      </value>
      <value id="3" name="Schedule Turn On" abbrev="SCHED_ON">
        <description>
          Turn on power channel specified in field 'id' in
          'sched_time' seconds.
        </description>
      </value>
      <value id="4" name="Schedule Turn Off" abbrev="SCHED_OFF">
        <description>
          Turn off power channel specified in field 'id' in
          'sched_time' seconds.
        </description>
      </value>
      <value id="5" name="Reset Schedules" abbrev="SCHED_RESET">
        <description>
          Reset all scheduled operations for the channel specified in
          field 'id'.
        </description>
      </value>
      <value id="6" name="Save Current State" abbrev="SAVE">
        <description>
          Save the current state of the channel 'id' to persistent
          storage.
        </description>
      </value>
      <value id="7" name="Restart" abbrev="RESTART">
        <description>
          Restart power channel specified in field 'id'.
        </description>
      </value>
    </field>
    <field name="Scheduled Time" abbrev="sched_time" type="fp64_t" unit="s">
      <description>
        Scheduled time of operation.
      </description>
    </field>
  </message>

  <message id="310" name="Query Power Channel State" abbrev="QueryPowerChannelState" source="vehicle,ccu" category="Actuation">
    <description>
      Request the state of power channels.
    </description>
  </message>

  <message id="311" name="Power Channel State" abbrev="PowerChannelState" source="vehicle,ccu" category="Actuation">
    <description>
      Message conveying the state of a power channel.
    </description>
    <field name="Name" abbrev="name" type="plaintext">
      <description>
        Power Channel Name.
      </description>
    </field>
    <field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="PCS">
      <description>
        State of the Power Channel.
      </description>
      <value id="0" name="Off" abbrev="OFF">
        <description>
          Power channel is off.
        </description>
      </value>
      <value id="1" name="On" abbrev="ON">
        <description>
          Power channel is on.
        </description>
      </value>
    </field>
  </message>

  <message id="312" name="LED Brightness" abbrev="LedBrightness" source="vehicle" category="Actuation">
    <description>
      Brightness value of an LED (Light-Emitting Diode).
    </description>
    <field name="Name" abbrev="name" type="plaintext">
      <description>
        LED name.
      </description>
    </field>
    <field name="Value" abbrev="value" type="uint8_t">
      <description>
        Brightness value.
      </description>
    </field>
  </message>

  <message id="313" name="Query LED Brightness" abbrev="QueryLedBrightness" source="vehicle" category="Actuation">
    <description>
      Query the brightness of an LED (Light-Emitting Diode). The
      recipient of this message shall reply with 'LedBrightness'.
    </description>
    <field name="Name" abbrev="name" type="plaintext">
      <description>
        LED name.
      </description>
    </field>
  </message>

  <message id="314" name="Set LED Brightness" abbrev="SetLedBrightness" source="vehicle" category="Actuation">
    <description>
      Control the brightness of an LED (Light-Emitting Diode). The
      recipient of this message shall set the intensity of the LED to
      the desired 'value' and reply with 'LedBrightness'.
    </description>
    <field name="Name" abbrev="name" type="plaintext">
      <description>
        LED name.
      </description>
    </field>
    <field name="Value" abbrev="value" type="uint8_t">
      <description>
        Desired brightness value.
      </description>
    </field>
  </message>

  <message id="315" name="Set PWM" abbrev="SetPWM" source="vehicle" category="Actuation">
    <description>
      Set properties of a PWM signal channel.
    </description>
    <field name="Channel Identifier" abbrev="id" type="uint8_t">
      <description>
        PWM channel identifier.
      </description>
    </field>
    <field name="Period" abbrev="period" type="uint32_t" unit="µs">
      <description>
        The total period of the PWM signal (sum of active and inactive
        time of the PWM).
      </description>
    </field>
    <field name="Duty Cycle" abbrev="duty_cycle" type="uint32_t" unit="µs">
      <description>
        The active time of the PWM signal. The duty cycle value must
        be less or equal to the period.
      </description>
    </field>
  </message>

  <message id="316" name="PWM" abbrev="PWM" source="vehicle" category="Actuation">
    <description>
      Properties of a PWM signal channel.
    </description>
    <field name="Channel Identifier" abbrev="id" type="uint8_t">
      <description>
        PWM channel identifier.
      </description>
    </field>
    <field name="Period" abbrev="period" type="uint32_t" unit="µs">
      <description>
        The total period of the PWM signal (sum of active and inactive
        time of the PWM).
      </description>
    </field>
    <field name="Duty Cycle" abbrev="duty_cycle" type="uint32_t" unit="µs">
      <description>
        The active time of the PWM signal. The duty cycle value is
        less or equal to the period.
      </description>
    </field>
  </message>

  <!-- Navigation -->
  <message id="350" name="Estimated State" abbrev="EstimatedState" source="vehicle" flags="periodic" category="Navigation">
    <description>
      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:

      .. figure:: ../images/euler-lauv.png
         :align:  center

      Euler angles
    </description>
    <field name="Latitude (WGS-84)" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude.
      </description>
    </field>
    <field name="Longitude (WGS-84)" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude.
      </description>
    </field>
    <field name="Height (WGS-84)" abbrev="height" type="fp32_t" unit="m">
      <description>
        Height above the WGS-84 ellipsoid.
      </description>
    </field>
    <field name="Offset north" abbrev="x" type="fp32_t" unit="m">
      <description>
        The North offset of the North/East/Down field with respect to
        LLH.
      </description>
    </field>
    <field name="Offset east" abbrev="y" type="fp32_t" unit="m">
      <description>
        The East offset of the North/East/Down field with respect to
        LLH.
      </description>
    </field>
    <field name="Offset down" abbrev="z" type="fp32_t" unit="m">
      <description>
        The Down offset of the North/East/Down field with respect to
        LLH.
      </description>
    </field>
    <field name="Rotation over x axis" abbrev="phi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The phi Euler angle from the vehicle's attitude.
      </description>
    </field>
    <field name="Rotation over y axis" abbrev="theta" type="fp32_t" unit="rad" min="-1.57079632679490" max="1.57079632679490">
      <description>
        The theta Euler angle from the vehicle's attitude.
      </description>
    </field>
    <field name="Rotation over z axis" abbrev="psi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The psi Euler angle from the vehicle's attitude.
      </description>
    </field>
    <field name="Body-Fixed xx Velocity" abbrev="u" type="fp32_t" unit="m/s">
      <description>
        Body-fixed frame xx axis velocity component.
      </description>
    </field>
    <field name="Body-Fixed yy Velocity" abbrev="v" type="fp32_t" unit="m/s">
      <description>
        Body-fixed frame yy axis velocity component.
      </description>
    </field>
    <field name="Body-Fixed zz Velocity" abbrev="w" type="fp32_t" unit="m/s">
      <description>
        Body-fixed frame zz axis velocity component.
      </description>
    </field>
    <field name="Ground Velocity X (North)" abbrev="vx" type="fp32_t" unit="m/s">
      <description>
        Ground Velocity xx axis velocity component.
      </description>
    </field>
    <field name="Ground Velocity Y (East)" abbrev="vy" type="fp32_t" unit="m/s">
      <description>
        Ground Velocity yy axis velocity component.
      </description>
    </field>
    <field name="Ground Velocity Z (Down)" abbrev="vz" type="fp32_t" unit="m/s">
      <description>
        Ground Velocity zz axis velocity component.
      </description>
    </field>
    <field name="Angular Velocity in x" abbrev="p" type="fp32_t" unit="rad/s" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The angular velocity over body-fixed xx axis (roll).
      </description>
    </field>
    <field name="Angular Velocity in y" abbrev="q" type="fp32_t" unit="rad/s" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The angular velocity over body-fixed yy axis (pitch).
      </description>
    </field>
    <field name="Angular Velocity in z" abbrev="r" type="fp32_t" unit="rad/s"  min="-3.141592653589793" max="3.141592653589793">
      <description>
        The angular velocity over body-fixed zz axis (yaw).
      </description>
    </field>
    <field name="Depth" abbrev="depth" type="fp32_t" unit="m">
      <description>
        Depth, in meters. To be used by underwater vehicles. Negative
        values denote invalid estimates.
      </description>
    </field>
    <field name="Altitude" abbrev="alt" type="fp32_t" unit="m">
      <description>
        Altitude, in meters. Negative values denote invalid estimates.
      </description>
    </field>
  </message>

  <message id="351" name="Estimated Stream Velocity" abbrev="EstimatedStreamVelocity" source="vehicle" flags="periodic" category="Navigation">
    <description>
      The estimated stream velocity, typically for water or air
      streams.
    </description>
    <field name="X component (North)" abbrev="x" type="fp64_t" unit="m/s">
      <description>
        X component (North).
      </description>
    </field>
    <field name="Y component (East)" abbrev="y" type="fp64_t" unit="m/s">
      <description>
        Y component (East).
      </description>
    </field>
    <field name="Z component (Down)" abbrev="z" type="fp64_t" unit="m/s">
      <description>
        Z component (Down).
      </description>
    </field>
  </message>

  <message id="352" name="Indicated Speed" abbrev="IndicatedSpeed" source="vehicle" category="Navigation">
    <description>
      Speed measured by the navigation filter.
    </description>
    <field name="Measured speed" abbrev="value" unit="m/s" type="fp64_t"/>
  </message>

  <message id="353" name="True Speed" abbrev="TrueSpeed" source="vehicle" category="Navigation">
    <description>
      Ground true speed.
    </description>
    <field name="Estimated value" abbrev="value" unit="m/s" type="fp64_t"/>
  </message>

  <message id="354" name="Navigation Uncertainty" abbrev="NavigationUncertainty" category="Navigation">
    <description>
      Report of navigation uncertainty.
      This is usually given by the output of the state
      covariance matrix of an Extended Kalman Filter.
    </description>
    <field name="Variance - x Position" abbrev="x" type="fp32_t" unit="m">
      <description>The North offset variance of the North/East/Down
      field with respect to LLH.</description>
    </field>
    <field name="Variance - y Position" abbrev="y" type="fp32_t" unit="m">
      <description>The East offset variance of the North/East/Down
      field with respect to LLH.</description>
    </field>
    <field name="Variance - z Position" abbrev="z" type="fp32_t" unit="m">
      <description>The Down offset variance of the North/East/Down
      field with respect to LLH.</description>
    </field>
    <field name="Variance - Roll" abbrev="phi" type="fp32_t" unit="rad">
      <description>
        The phi Euler angle variance from the vehicle's attitude.
      </description>
    </field>
    <field name="Variance - Pitch" abbrev="theta" type="fp32_t" unit="rad">
      <description>
        The theta Euler angle variance from the vehicle's attitude.
      </description>
    </field>
    <field name="Variance - Yaw" abbrev="psi" type="fp32_t" unit="rad">
      <description>
        The psi Euler angle variance from the vehicle's attitude.
      </description>
    </field>
    <field name="Variance - Gyro. Roll Rate" abbrev="p" type="fp32_t" unit="rad/s">
      <description>
        The angular velocity variance over body-fixed xx axis (roll).
      </description>
    </field>
    <field name="Variance - Gyro. Pitch Rate" abbrev="q" type="fp32_t" unit="rad/s">
      <description>
        The angular velocity variance over body-fixed yy axis (pitch).
      </description>
    </field>
    <field name="Variance - Gyro. Yaw Rate" abbrev="r" type="fp32_t" unit="rad/s">
      <description>
        The angular velocity variance over body-fixed zz axis (yaw).
      </description>
    </field>
    <field name="Variance - Body-Fixed xx Velocity" abbrev="u" type="fp32_t" unit="m/s">
      <description>
        Body-fixed frame xx axis velocity variance component.
      </description>
    </field>
    <field name="Variance - Body-Fixed yy Velocity" abbrev="v" type="fp32_t" unit="m/s">
      <description>
        Body-fixed frame yy axis velocity variance component.
      </description>
    </field>
    <field name="Variance - Body-Fixed ww Velocity" abbrev="w" type="fp32_t" unit="m/s">
      <description>
        Body-fixed frame zz axis velocity variance component.
      </description>
    </field>
    <field name="Variance - Yaw Bias" abbrev="bias_psi" type="fp32_t" unit="rad">
      <description>
        The psi Euler angle bias variance from the vehicle's sensed attitude.
      </description>
    </field>
    <field name="Variance - Gyro. Yaw Rate Bias" abbrev="bias_r" type="fp32_t" unit="rad/s">
      <description>
        The angular velocity over body-fixed zz axis bias variance from sensor.
      </description>
    </field>
  </message>

  <message id="355" name="Navigation Data" abbrev="NavigationData" category="Navigation">
    <description>
      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.
    </description>
    <field name="Yaw Bias" abbrev="bias_psi" type="fp32_t" unit="rad">
      <description>
        The psi Euler angle bias from the vehicle's sensed attitude.
      </description>
    </field>
    <field name="Gyro. Yaw Rate Bias" abbrev="bias_r" type="fp32_t" unit="rad/s">
      <description>
        The angular velocity over body-fixed zz axis bias from sensor.
      </description>
    </field>
    <field name="Course Over Ground" abbrev="cog" type="fp32_t" unit="rad">
      <description>
        Course over ground given by NED ground velocity vectors.
      </description>
    </field>
    <field name="Continuous Yaw" abbrev="cyaw" type="fp32_t" unit="rad">
      <description>
        Continuous psi Euler angle (without normalizations).
      </description>
    </field>
    <field name="GPS Rejection Filter Level" abbrev="lbl_rej_level" type="fp32_t">
      <description>
        GPS rejection filter level.
      </description>
    </field>
    <field name="LBL Rejection Filter Level" abbrev="gps_rej_level" type="fp32_t">
      <description>
        LBL rejection filter level.
      </description>
    </field>
    <field name="Variance - Custom Variable X" abbrev="custom_x" type="fp32_t">
      <description>Custom variable.</description>
    </field>
    <field name="Variance - Custom Variable Y" abbrev="custom_y" type="fp32_t">
      <description>Custom variable.</description>
    </field>
    <field name="Variance - Custom Variable Z" abbrev="custom_z" type="fp32_t">
      <description>Custom variable.</description>
    </field>
  </message>

  <message id="356" name="GPS Fix Rejection" abbrev="GpsFixRejection" source="vehicle" category="Navigation">
    <field name="UTC Time of Fix" abbrev="utc_time" type="fp32_t" unit="s">
      <description>
        UTC time of the rejected GPS fix measured in seconds since
        00:00:00 (midnight).
      </description>
    </field>
    <field name="Reason" abbrev="reason" type="uint8_t" unit="Enumerated" prefix="RR">
      <description>
        Reason for rejection.
      </description>
      <value id="0" name="Above Threshold" abbrev="ABOVE_THRESHOLD">
        <description>
          New GPS Fix position is above a computed threshold.
        </description>
      </value>
      <value id="1" name="Invalid Fix" abbrev="INVALID">
        <description>
          Invalid measurement.
        </description>
      </value>
      <value id="2" name="Above Maximum HDOP" abbrev="ABOVE_MAX_HDOP">
        <description>
          Above maximum horizontal dilution of precision.
        </description>
      </value>
      <value id="3" name="Above Maximum HACC" abbrev="ABOVE_MAX_HACC">
        <description>
          Above maximum horizontal accuracy index.
        </description>
      </value>
      <value id="4" name="Lost Validity Bit" abbrev="LOST_VAL_BIT">
        <description>
          Lost one of the validity bits between consecutive GPS fixes.
        </description>
      </value>
    </field>
  </message>

  <message id="357" name="LBL Range Acceptance" abbrev="LblRangeAcceptance" source="vehicle" category="Navigation">
    <description>
      When the vehicle uses Long Base Line navigation, this message
      notifies that a new range was received from one of the acoustics
      transponders. The message fields are used to identify the range
      value and the transponder name. Also, this message has an
      acceptance field that indicates whether a LBL range was accepted
      or rejected, and if rejected, the reason why.
    </description>
    <field name="Beacon Identification Number" abbrev="id" type="uint8_t">
      <description>
        Identification number of the acoustic transponder from which
        the range information was received.
      </description>
    </field>
    <field name="Range" abbrev="range" type="fp32_t" unit="m">
      <description>
        Distance to the acoustic transponder.
      </description>
    </field>
    <field name="Acceptance" abbrev="acceptance" type="uint8_t" unit="Enumerated" prefix="RR">
      <description>
        Reason for acceptance/rejection.
      </description>
      <value id="0" name="Accepted" abbrev="ACCEPTED">
        <description>
          This LBL range is accepted by the navigation filter.
        </description>
      </value>
      <value id="1" name="Rejected - Above Threshold" abbrev="ABOVE_THRESHOLD">
        <description>
          New LBL Range is above a computed threshold.
        </description>
      </value>
      <value id="2" name="Rejected - Singular Point" abbrev="SINGULAR">
        <description>
          Singular point.
        </description>
      </value>
      <value id="3" name="Rejected - Not Enough Information" abbrev="NO_INFO">
        <description>
          The filter lacks information to properly use the received LBL range.
        </description>
      </value>
      <value id="4" name="Rejected - Vehicle At Surface" abbrev="AT_SURFACE">
        <description>
          Vehicle is using only GPS fix when it is at surface.
        </description>
      </value>
    </field>
  </message>

  <message id="358" name="DVL Rejection" abbrev="DvlRejection" source="vehicle" category="Navigation">
    <description>
      When the vehicle uses Doppler Velocity Log sensor, this message
      notifies that a new measurement was locally rejected by the
      navigation filter.
    </description>
    <field name="Type of velocity" abbrev="type" unit="Bitfield" type="uint8_t" prefix="TYPE">
      <description>
        This field represents the type of the rejected velocity.
      </description>
      <value id="0x01" abbrev="GV" name="Ground velocity"/>
      <value id="0x02" abbrev="WV" name="Water velocity"/>
    </field>
    <field name="Reason" abbrev="reason" type="uint8_t" unit="Enumerated" prefix="RR">
      <description>
        Reason for rejection. There are two types of DVL measurement
        filters. An Innovation filter checks the innovation between
        the current measurement and the previous measurement within a
        certain amount of time and an Absolute filter compares the
        measurement with an absolute threshold value. Those filters
        are tested using horizontal speed measurements, i.e.,
        measurements in the x-axis and in the y-axis.
      </description>
      <value id="0" name="Innovation Threshold - X" abbrev="INNOV_THRESHOLD_X">
        <description>
          The current DVL x-axis measurement is discarded
          because the absolute difference between the
          value and the previous accepted DVL measurement
          with a given time window is above a configurable
          threshold.
        </description>
      </value>
      <value id="1" name="Innovation Threshold - Y" abbrev="INNOV_THRESHOLD_Y">
        <description>
          The current DVL y-axis measurement is discarded
          because the absolute difference between the
          value and the previous accepted DVL measurement
          with a given time window is above a configurable
          threshold.
        </description>
      </value>
      <value id="2" name="Absolute Threshold - X" abbrev="ABS_THRESHOLD_X">
        <description>
          The current DVL x-axis measurement is discarded
          because the the absolute value is above a
          configurable threshold.
        </description>
      </value>
      <value id="3" name="Absolute Threshold - Y" abbrev="ABS_THRESHOLD_Y">
        <description>
          The current DVL y-axis measurement is discarded
          because the the absolute value is above a
          configurable threshold.
        </description>
      </value>
    </field>
    <field name="Value" abbrev="value" type="fp32_t" unit="m/s">
      <description>
        Value of the rejection.
        If it is an innovation rejection the value is
        the absolute difference between the previous
        accepted DVL measurement and the current one.
        If it is an absolute rejection the value is
        the current DVL measurement.
      </description>
    </field>
    <field name="Timestep" abbrev="timestep" type="fp32_t" unit="s">
      <description>
        Timestep of the rejection.
        The timestep is 0 for an absolute rejection
        since it is an instantaneous reading. For
        innovation rejection it is the time difference
        between the previous accepted DVL measurement
        and the current one.
      </description>
    </field>
  </message>

  <message id="360" name="LBL Beacon Position Estimate" abbrev="LblEstimate" category="Navigation">
    <description>
      LBL Beacon position estimate.
    </description>
    <field name="LBL Beacon Configuration" abbrev="beacon" type="message" message-type="LblBeacon">
      <description>
        LBL Beacon configuration estimate.
      </description>
    </field>
    <field name="North position" abbrev="x" type="fp32_t" unit="m">
      <description>
        The North position offset of the NED field with respect to origin.
      </description>
    </field>
    <field name="East position" abbrev="y" type="fp32_t" unit="m">
      <description>
        The East position offset of the NED field with respect to origin.
      </description>
    </field>
    <field name="North position variance" abbrev="var_x" type="fp32_t" unit="m">
      <description>
        The North offset variance of the North/East/Down
        field with respect to LLH.
      </description>
    </field>
    <field name="East position variance" abbrev="var_y" type="fp32_t" unit="m">
      <description>
        The East offset variance of the North/East/Down
        field with respect to LLH.
      </description>
    </field>
    <field name="Distance" abbrev="distance" type="fp32_t" unit="m">
      <description>
        Distance between current LBL Beacon position and filter estimation.
      </description>
    </field>
  </message>

  <message id="361" name="Alignment State" abbrev="AlignmentState" source="vehicle" category="Navigation">
    <description>
      This message notifies the vehicle is ready for dead-reckoning missions.
    </description>
    <field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="AS">
      <description>
        Alignment State.
      </description>
      <value id="0" name="Not Aligned" abbrev="NOT_ALIGNED"/>
      <value id="1" name="Aligned" abbrev="ALIGNED"/>
      <value id="2" name="Not Supported" abbrev="NOT_SUPPORTED"/>
      <value id="3" name="Aligning" abbrev="ALIGNING"/>
      <value id="4" name="Wrong Medium" abbrev="WRONG_MEDIUM"/>
      <value id="5" name="Coarse Alignment" abbrev="COARSE_ALIGNMENT"/>
      <value id="6" name="Fine Alignment" abbrev="FINE_ALIGNMENT"/>
      <value id="7" name="System Ready" abbrev="SYSTEM_READY"/>
    </field>
  </message>

  <message id="362" name="GroupStreamVelocity" abbrev="GroupStreamVelocity" flags="periodic" category="Navigation">
    <description>
      The stream velocity estimated by a group of systems.
      Typically for water or air streams.
    </description>
    <field name="X component (North)" abbrev="x" type="fp64_t" unit="m/s">
      <description>
        X component (North).
      </description>
    </field>
    <field name="Y component (East)" abbrev="y" type="fp64_t" unit="m/s">
      <description>
        Y component (East).
      </description>
    </field>
    <field name="Z component (Down)" abbrev="z" type="fp64_t" unit="m/s">
      <description>
        Z component (Down).
      </description>
    </field>
  </message>

  <message id="363" name="Airflow" abbrev="Airflow" source="vehicle" category="Navigation">
    <description>
      Airspeed along with airflow angles.
    </description>
    <field name="Airspeed" abbrev="va" type="fp32_t" unit="m/s">
      <description>
        Airspeed, the 2-norm of the relative velocity.
      </description>
    </field>
    <field name="Angle of attack" abbrev="aoa" type="fp32_t" unit="rad">
      <description>
        Angle of attack.
      </description>
    </field>
    <field name="Sideslip angle" abbrev="ssa" type="fp32_t" unit="rad">
      <description>
        Sideslip angle.
      </description>
    </field>
  </message>

  <!-- Guidance -->
  <message id="400" name="Desired Heading" abbrev="DesiredHeading"  source="vehicle" category="Guidance">
    <description>
      Desired Heading angle reference value for the control layer.
    </description>
    <field name="Value" abbrev="value" type="fp64_t" unit="rad">
      <description>
        The value of the desired heading angle, relative to true
        north, in radians.
      </description>
    </field>
  </message>

  <message id="401" name="Desired Z" abbrev="DesiredZ"  source="vehicle" category="Guidance">
    <description>
      Desired Z reference value for the control layer.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="m">
      <description>
        The value of the desired z reference in meters.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
  </message>

  <message id="402" name="Desired Speed" abbrev="DesiredSpeed"  source="vehicle" category="Guidance">
    <description>
      Desired Speed reference value for the control layer.
    </description>
    <field name="Value" abbrev="value" type="fp64_t">
      <description>
        The value of the desired speed, in the scale specified by the
        "Speed Units" field.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Indicates the units used for the speed value.
      </description>
    </field>
  </message>

  <message id="403" name="Desired Roll" abbrev="DesiredRoll" source="vehicle" category="Guidance">
    <description>
      Desired Roll angle reference value for the control layer.
    </description>
    <field name="Value" abbrev="value" type="fp64_t" unit="rad">
      <description>
        The value of the desired roll angle.
      </description>
    </field>
  </message>

  <message id="404" name="Desired Pitch" abbrev="DesiredPitch" source="vehicle" category="Guidance">
    <description>
      Desired Pitch angle reference value for the control layer.
    </description>
    <field name="Value" abbrev="value" type="fp64_t" unit="rad">
      <description>
        The value of the desired pitch angle.
      </description>
    </field>
  </message>

  <message id="405" name="Desired Vertical Rate" abbrev="DesiredVerticalRate" source="vehicle" category="Guidance">
    <description>
      Desired Vertical Rate speed reference value for the control layer.
    </description>
    <field name="Value" abbrev="value" type="fp64_t" unit="m/s">
      <description>
        The value of the desired vertical rate speed in meters per
        second.
      </description>
    </field>
  </message>

  <message id="406" name="Desired Path" abbrev="DesiredPath" source="vehicle" category="Guidance">
    <description>
      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. the start waypoint fields ('start_{lat|lon|z}') if the
      'START' flag (bit in 'flags' field) is set; or
      2. the end point of the previous path recently tracked; or
      3. the current location is the 'DIRECT' flag is set or if
      the tracker has been idle for some time.

      Altitude and depth control can be performed as follows:

      1. by default, the tracker will just transmit an altitude/depth
      reference value equal to 'end_z' to the appropriate controller;
      2. if the 'NO_Z' flag is set no altitude/depth control will take
      place, hence they can be controlled independently;
      3. if the '3DTRACK' flag is set, 3D-tracking will be done
      (if supported by the active controller).

      Loitering can be specified at the end point with a certain
      radius ('lradius'), duration ('lduration'), and clockwise or
      counter-clockwise direction ('CCLOCKW' flag).
    </description>
    <field name = "Path Reference" abbrev="path_ref" type="uint32_t">
      <description>
        Unsigned integer reference for the scope of the desired path message.
        Path reference should only be set by a maneuver.
        Should be set to an always increasing reference at the time of dispatching this message.
        Lower level path controllers must inherit the same path reference sent by maneuver.
      </description>
    </field>
    <field name="Start Point -- Latitude WGS-84" abbrev="start_lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 latitude of start point. This will be ignored unless
        the 'START' flag is set.
      </description>
    </field>
    <field name="Start Point -- WGS-84 Longitude" abbrev="start_lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 longitude of start point. This will be ignored unless
        the 'START' flag is set.
      </description>
    </field>
    <field name="Start Point -- Z Reference" abbrev="start_z" type="fp32_t" unit="m">
      <description>
        Altitude or depth of start point. This parameter will be
        ignored if the 'NO_Z' flag is set, or if the 'START' flag is
        not set.
      </description>
    </field>
    <field name="Start Point -- Z Units" abbrev="start_z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the start point's z reference.
      </description>
    </field>
    <field name="End Point -- WGS84 Latitude" abbrev="end_lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 latitude of end point.
      </description>
    </field>
    <field name="End Point -- WGS-84 Longitude" abbrev="end_lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 longitude of end point.
      </description>
    </field>
    <field name="End Point -- Z Reference" abbrev="end_z" type="fp32_t" unit="m">
      <description>
        Depth or altitude for the end point. This parameter will be
        ignored if the 'NO_Z' flag is set.
      </description>
    </field>
    <field name="End Point -- Z Units" abbrev="end_z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the end point's z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Loiter -- Radius" abbrev="lradius" type="fp32_t" unit="m">
      <description>
        Radius for loitering at end point. Specify less or equal to 0
        for no loitering.
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="FL">
      <description>
        Desired Path flags.
      </description>
      <value id="0x01" abbrev="START" name="Start Point">
        <description>
          Indicates that the start point specification is given,
          therefore it should be considered for tracking.
        </description>
      </value>
      <value id="0x02" abbrev="DIRECT" name="Direct">
        <description>
          If start point is not given, ignore also the previous path's
          endpoint and take the start point to be the current vehicle
          location.
        </description>
      </value>
      <value id="0x04" abbrev="NO_Z" name="No Altitude/Depth control">
        <description>
          Ignore altitude/depth setting and let them be controlled
          independently.
        </description>
      </value>
      <value id="0x08" abbrev="3DTRACK" name="3D Tracking">
        <description>
          Perform 3D-tracking, i.e., consider the path formed in the
          XYZ plane taking into account both the 'start_z' and 'end_z'
          values.
        </description>
      </value>
      <value id="0x10" abbrev="CCLOCKW" name="Counter-Clockwise loiter">
        <description>
          Indicates that loitering, if defined, should be done
          counter-clockwise. Clockwise loitering will apply
          otherwise.
        </description>
      </value>
      <value id="0x20" abbrev="LOITER_CURR" name="Loiter from current position">
        <description>
          Indicates that loitering, if defined, should be done from
          the current vehicle position. The end_lat and end_lon
          fields will be ignored.
        </description>
      </value>
      <value id="0x40" abbrev="TAKEOFF" name="Takeoff">
        <description>
          Indicates that takeoff should be done before going to the end position.
        </description>
      </value>
      <value id="0x80" abbrev="LAND" name="Land">
        <description>
          Indicates that the system should land at the end position.
        </description>
      </value>
    </field>
  </message>

  <message id="407" name="Desired Control" abbrev="DesiredControl" source="vehicle" category="Guidance">
    <description>
      Set the desired virtual forces and torques to be applied to the
      vehicle.
    </description>
    <field name="Force along the x axis" abbrev="x" type="fp64_t" unit="N">
      <description>
        Force X along the vehicle's x axis.
      </description>
    </field>
    <field name="Force along the y axis" abbrev="y" type="fp64_t" unit="N">
      <description>
        Force Y along the vehicle's y axis.
      </description>
    </field>
    <field name="Force along the z axis" abbrev="z" type="fp64_t" unit="N">
      <description>
        Force Z along the vehicle's z axis.
      </description>
    </field>
    <field name="Torque about the x axis" abbrev="k" type="fp64_t" unit="Nm">
      <description>
        Torque K about the vehicle's x axis.
      </description>
    </field>
    <field name="Torque about the y axis" abbrev="m" type="fp64_t" unit="Nm">
      <description>
        Torque M about the vehicle's y axis.
      </description>
    </field>
    <field name="Torque about the z axis" abbrev="n" type="fp64_t" unit="Nm">
      <description>
        Torque N about the vehicle's z axis.
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="FL">
      <description>
        Desired Control flags.
      </description>
      <value id="0x01" abbrev="X" name="Value of X is meaningful">
        <description>
          If enabled then field X has a meaningful value.
        </description>
      </value>
      <value id="0x02" abbrev="Y" name="Value of Y is meaningful">
        <description>
          If enabled then field Y has a meaningful value.
        </description>
      </value>
      <value id="0x04" abbrev="Z" name="Value of Z is meaningful">
        <description>
          If enabled then field Z has a meaningful value.
        </description>
      </value>
      <value id="0x08" abbrev="K" name="Value of K is meaningful">
        <description>
          If enabled then field K has a meaningful value.
        </description>
      </value>
      <value id="0x10" abbrev="M" name="Value of M is meaningful">
        <description>
          If enabled then field M has a meaningful value.
        </description>
      </value>
      <value id="0x20" abbrev="N" name="Value of N is meaningful">
        <description>
          If enabled then field N has a meaningful value.
        </description>
      </value>
    </field>
  </message>

  <message id="408" name="Desired Heading Rate" abbrev="DesiredHeadingRate" source="vehicle" category="Guidance">
    <description>
      Desired Heading Rate speed reference value for the control layer.
    </description>
    <field name="Value" abbrev="value" type="fp64_t" unit="rad/s">
      <description>
        The value of the desired heading rate speed in radians per
        second.
      </description>
    </field>
  </message>

  <message id="409" name="Desired Velocity" abbrev="DesiredVelocity" source="Vehicle" category="Guidance">
    <description>
      Desired value for each linear and angular speeds.
    </description>
    <field name="Desired Linear Speed in xx" abbrev="u" type="fp64_t" unit="m/s">
      <description>
        Desired speed along the vehicle's x axis.
      </description>
    </field>
    <field name="Desired Linear Speed in yy" abbrev="v" type="fp64_t" unit="m/s">
      <description>
        Desired speed along the vehicle's y axis.
      </description>
    </field>
    <field name="Desired Linear Speed in zz" abbrev="w" type="fp64_t" unit="m/s">
      <description>
        Desired speed along the vehicle's z axis.
      </description>
    </field>
    <field name="Desired Angular Speed in xx" abbrev="p" type="fp64_t" unit="m/s">
      <description>
        Desired speed about the vehicle's x axis.
      </description>
    </field>
    <field name="Desired Angular Speed in yy" abbrev="q" type="fp64_t" unit="m/s">
      <description>
        Desired speed about the vehicle's y axis.
      </description>
    </field>
    <field name="Desired Angular Speed in zz" abbrev="r" type="fp64_t" unit="m/s">
      <description>
        Desired speed about the vehicle's z axis.
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="FL">
      <description>
        Desired Velocity flags.
      </description>
      <value id="0x01" abbrev="SURGE" name="Value of u is meaningful">
        <description>
          If enabled then field u has a meaningful value.
        </description>
      </value>
      <value id="0x02" abbrev="SWAY" name="Value of v is meaningful">
        <description>
          If enabled then field u has a meaningful value.
        </description>
      </value>
      <value id="0x04" abbrev="HEAVE" name="Value of w is meaningful">
        <description>
          If enabled then field w has a meaningful value.
        </description>
      </value>
      <value id="0x08" abbrev="ROLL" name="Value of p is meaningful">
        <description>
          If enabled then field p has a meaningful value.
        </description>
      </value>
      <value id="0x10" abbrev="PITCH" name="Value of q is meaningful">
        <description>
          If enabled then field q has a meaningful value.
        </description>
      </value>
      <value id="0x20" abbrev="YAW" name="Value of r is meaningful">
        <description>
          If enabled then field r has a meaningful value.
        </description>
      </value>
    </field>
  </message>

  <message id="410" name="Path Control State" abbrev="PathControlState" source="vehicle" category="Guidance">
    <description>
      Path control state issued by Path Controller.
    </description>
    <field name = "Path Reference" abbrev="path_ref" type="uint32_t">
      <description>
        Unsigned integer reference of the desired path message to which this
        PathControlState message refers to.
        Path reference should only be set by a maneuver, not by path controllers.
      </description>
    </field>
    <field name="Start Point -- Latitude WGS-84" abbrev="start_lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 latitude of start point.
      </description>
    </field>
    <field name="Start Point -- WGS-84 Longitude" abbrev="start_lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 longitude of start point.
      </description>
    </field>
    <field name="Start Point -- Z Reference" abbrev="start_z" type="fp32_t" unit="m">
      <description>
        Altitude or depth of start point. This parameter will be
        ignored if the 'NO_Z' flag is set, or if the 'START' flag is
        not set.
      </description>
    </field>
    <field name="Start Point -- Z Units" abbrev="start_z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the start point's z reference.
      </description>
    </field>
    <field name="End Point -- Latitude WGS-84" abbrev="end_lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 latitude of end point.
      </description>
    </field>
    <field name="End Point -- WGS-84 Longitude" abbrev="end_lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 longitude of end point.
      </description>
    </field>
    <field name="End Point -- Z Reference" abbrev="end_z" type="fp32_t" unit="m">
      <description>
        Depth or altitude for the end point. This parameter should be
        ignored if the 'NO_Z' flag is set.
      </description>
    </field>
    <field name="End Point -- Z Units" abbrev="end_z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the end point's z reference.
      </description>
    </field>
    <field name="Loiter -- Radius" abbrev="lradius" type="fp32_t" unit="m">
      <description>
        Radius for loitering at end point.
        Will be 0 if no loitering is active.
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="FL">
      <description>
        Path control state flags.
      </description>
      <value id="0x01" abbrev="NEAR" name="Near Endpoint">
        <description>
          Set if near the target endpoint.
        </description>
      </value>
      <value id="0x02" abbrev="LOITERING" name="Loitering">
        <description>
          Set if loitering.
        </description>
      </value>
      <value id="0x04" abbrev="NO_Z" name="No Altitude/Depth control">
        <description>
          Altitude/depth being controlled independently.
        </description>
      </value>
      <value id="0x08" abbrev="3DTRACK" name="3D Tracking">
        <description>
          3D-tracking is active.
        </description>
      </value>
      <value id="0x10" abbrev="CCLOCKW" name="Counter-Clockwise loiter">
        <description>
          Indicates that loitering, if active, is being done
          counter-clockwise. Otherwise, clockwise loitering should be
          assumed.
        </description>
      </value>
    </field>
    <field name="Along Track Position" abbrev="x" unit="m" type="fp32_t">
      <description>
        Along-Track position value.
      </description>
    </field>
    <field name="Cross Track Position" abbrev="y" unit="m" type="fp32_t">
      <description>
        Cross-Track position value.
      </description>
    </field>
    <field name="Vertical Track Position" abbrev="z" unit="m" type="fp32_t">
      <description>
        Vertical-Track position value.
      </description>
    </field>
    <field name="Along Track Velocity" abbrev="vx" unit="m/s" type="fp32_t">
      <description>
        Along-Track velocity value.
      </description>
    </field>
    <field name="Cross Track Velocity" abbrev="vy" unit="m/s" type="fp32_t">
      <description>
        Cross-Track velocity value.
      </description>
    </field>
    <field name="Vertical Track Velocity" abbrev="vz" unit="m/s" type="fp32_t">
      <description>
        Vertical-Track velocity value.
      </description>
    </field>
    <field name="Course Error" abbrev="course_error" unit="rad" type="fp32_t">
      <description>
        Course error value.
      </description>
    </field>
    <field name="Estimated Time to Arrival (ETA)" abbrev="eta" unit="s" type="uint16_t">
      <description>
        Estimated time to reach target waypoint. The value will be
        65535 if the time is unknown or undefined, and 0 when
        loitering.
      </description>
    </field>
  </message>

  <message id="411" name="Allocated Control Torques" abbrev="AllocatedControlTorques" source="vehicle" category="Guidance">
    <description>
      Control torques allocated to the actuators.
    </description>
    <field name="Torque about the x axis" abbrev="k" type="fp64_t" unit="Nm">
      <description>
        Torque K about the vehicle's x axis.
      </description>
    </field>
    <field name="Torque about the y axis" abbrev="m" type="fp64_t" unit="Nm">
      <description>
        Torque M about the vehicle's y axis.
      </description>
    </field>
    <field name="Torque about the x axis" abbrev="n" type="fp64_t" unit="Nm">
      <description>
        Torque N about the vehicle's z axis.
      </description>
    </field>
  </message>

  <message id="412" name="Control Parcel" abbrev="ControlParcel" category="Guidance">
    <description>
      Report of PID control parcels.
    </description>
    <field name="Proportional Parcel" abbrev="p" type="fp32_t">
      <description>
        Proportional parcel value.
      </description>
    </field>
    <field name="Integrative Parcel" abbrev="i" type="fp32_t">
      <description>
        Integral parcel value.
      </description>
    </field>
    <field name="Derivative Parcel" abbrev="d" type="fp32_t">
      <description>
        Derivative parcel value.
      </description>
    </field>
    <field name="Anti-Windup Parcel" abbrev="a" type="fp32_t">
      <description>
        Anti-windup parcel value.
      </description>
    </field>
  </message>

  <message id="413" name="Brake" abbrev="Brake" category="Guidance">
    <description>
      Brake the vehicle in some way, i. e., reduce forward speed.
    </description>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Brake operation.
      </description>
      <value id="0" abbrev="STOP" name="Stop Braking">
        <description>
          Stop braking procedures.
        </description>
      </value>
      <value id="1" abbrev="START" name="Start Braking">
        <description>
          Start braking procedures.
        </description>
      </value>
      <value id="2" abbrev="REVERT" name="Revert Actuation">
        <description>
          Revert Actuation.
        </description>
      </value>
    </field>
  </message>

  <message id="414" name="Desired Linear State" abbrev="DesiredLinearState" category="Guidance">
    <description>
      Position, velocity and acceleration setpoints in NED
    </description>
    <field name="Desired pos in xx" abbrev="x" type="fp64_t" unit="m">
      <description>
        Desired pos in x.
      </description>
    </field>
    <field name="Desired pos in yy" abbrev="y" type="fp64_t" unit="m">
      <description>
        Desired pos in y.
      </description>
    </field>
    <field name="Desired pos in zz" abbrev="z" type="fp64_t" unit="m">
      <description>
        Desired pos in z.
      </description>
    </field>
    <field name="Desired Linear Speed in xx" abbrev="vx" type="fp64_t" unit="m/s">
      <description>
        Desired speed along NED x axis.
      </description>
    </field>
    <field name="Desired Linear Speed in yy" abbrev="vy" type="fp64_t" unit="m/s">
      <description>
        Desired speed along NED y axis.
      </description>
    </field>
    <field name="Desired Linear Speed in zz" abbrev="vz" type="fp64_t" unit="m/s">
      <description>
        Desired speed along NED z axis.
      </description>
    </field>
    <field name="Desired Linear Acceleration in xx" abbrev="ax" type="fp64_t" unit="m/s/s">
      <description>
        Desired acceleration along NED x axis.
      </description>
    </field>
    <field name="Desired Linear Acceleration in yy" abbrev="ay" type="fp64_t" unit="m/s/s">
      <description>
        Desired acceleration along NED y axis.
      </description>
    </field>
    <field name="Desired Linear Acceleration in zz" abbrev="az" type="fp64_t" unit="m/s/s">
      <description>
        Desired acceleration along NED z axis.
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint16_t" unit="Bitfield" prefix="FL">
      <description>
        Setpoint Flags
      </description>
      <value id="0x0001" abbrev="X" name="Value of x is meaningful">
        <description>
          If enabled then field x has a meaningful value.
        </description>
      </value>
      <value id="0x0002" abbrev="Y" name="Value of y is meaningful">
        <description>
          If enabled then field y has a meaningful value.
        </description>
      </value>
      <value id="0x0004" abbrev="Z" name="Value of z is meaningful">
        <description>
          If enabled then field z has a meaningful value.
        </description>
      </value>
      <value id="0x0008" abbrev="VX" name="Value of vx is meaningful">
        <description>
          If enabled then field vx has a meaningful value.
        </description>
      </value>
      <value id="0x0010" abbrev="VY" name="Value of vy is meaningful">
        <description>
          If enabled then field vy has a meaningful value.
        </description>
      </value>
      <value id="0x0020" abbrev="VZ" name="Value of vz is meaningful">
        <description>
          If enabled then field vz has a meaningful value.
        </description>
      </value>
      <value id="0x0040" abbrev="AX" name="Value of ax is meaningful">
        <description>
          If enabled then field ax has a meaningful value.
        </description>
      </value>
      <value id="0x0080" abbrev="AY" name="Value of ay is meaningful">
        <description>
          If enabled then field ay has a meaningful value.
        </description>
      </value>
      <value id="0x0100" abbrev="AZ" name="Value of az is meaningful">
        <description>
          If enabled then field az has a meaningful value.
        </description>
      </value>
    </field>
  </message>

  <message id="415" name="Desired Throttle" abbrev="DesiredThrottle" source="vehicle" category="Guidance">
    <description>
      Desired throttle e.g. for Plane in FBWA-mode.
    </description>
    <field name="Value" abbrev="value" type="fp64_t" unit="%">
      <description>
        The value of the desired throttle.
      </description>
    </field>
  </message>

  <!-- Maneuvering -->
  <message id="450" name="Goto Maneuver" abbrev="Goto" source="ccu" category="Maneuvering">
    <description>
      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.

      Mandatory parameters defined for a "Goto" are
      timeout, speed and speed units.

      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.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of target waypoint.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of target waypoint.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Target reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Roll" abbrev="roll" type="fp64_t" unit="rad" min="-1" max="6.283185307179586">
      <description>
        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.
      </description>
    </field>
    <field name="Pitch" abbrev="pitch" type="fp64_t" unit="rad" min="-1" max="6.283185307179586">
      <description>
        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.
      </description>
    </field>
    <field name="Yaw" abbrev="yaw" type="fp64_t" unit="rad" min="-1" max="6.283185307179586">
      <description>
        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.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="451" name="PopUp Maneuver" abbrev="PopUp" source="ccu" category="Maneuvering">
    <description>
      The Pop Up maneuver makes the vehicle come to the surface at a
      specific waypoint. This maneuver is restricted to underwater vehicles.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        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.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Duration" abbrev="duration" type="uint16_t" unit="s">
      <description>
        The duration of this maneuver at surface level.
        Only used if flag WAIT_AT_SURFACE is on.
      </description>
    </field>
    <field name="Radius" abbrev="radius" type="fp32_t" unit="m" min="1" max="100000">
      <description>
        Radius of the maneuver.
        Only used if flag STATION_KEEP is on.
      </description>
    </field>
    <field name="Flags" abbrev="flags" prefix="FLG" type="uint8_t" unit="Bitfield">
      <description>
        Flags of the maneuver.
      </description>
      <value id="0x01" abbrev="CURR_POS" name="Start from current position">
        <description>
          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.
        </description>
      </value>
      <value id="0x02" abbrev="WAIT_AT_SURFACE" name="Wait at surface">
        <description>
          If this flag is set, duration field is used to hold position at surface
          for that amount of time.
        </description>
      </value>
      <value id="0x04" abbrev="STATION_KEEP" name="Station keeping">
        <description>
          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.
        </description>
      </value>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="452" name="Teleoperation Maneuver" abbrev="Teleoperation" source="ccu" category="Maneuvering">
    <description>
      The Teleoperation Maneuver lets the vehicle be controlled by an
      external human operator.
    </description>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="453" name="Loiter Maneuver" abbrev="Loiter" source="ccu" category="Maneuvering">
    <description>
      The Loiter maneuver makes the vehicle circle around a specific
      waypoint with fixed depth reference.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The timeout indicates the time that an error should occur if
        exceeded.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude coordinate.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude coordinate.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Duration" abbrev="duration" type="uint16_t" unit="s">
      <description>
        The duration of this maneuver. Use '0' for unlimited duration
        time.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Loiter Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="LT" max="4">
      <description>
        Loiter maneuver type.
      </description>
      <value id="0" name="Default" abbrev="DEFAULT"/>
      <value id="1" name="Circular" abbrev="CIRCULAR"/>
      <value id="2" name="Race track" abbrev="RACETRACK"/>
      <value id="3" name="Figure 8" abbrev="EIGHT"/>
      <value id="4" name="Hover" abbrev="HOVER"/>
    </field>
    <field name="Radius" abbrev="radius" type="fp32_t" unit="m" min="1" max="100000">
      <description>
        Radius of the maneuver.
      </description>
    </field>
    <field name="Length" abbrev="length" type="fp32_t" unit="m" min="1" max="100000">
      <description>
        Length of the maneuver.
      </description>
    </field>
    <field name="Bearing" abbrev="bearing" type="fp64_t" unit="rad" min="0" max="6.283185307179586">
      <description>
        Bearing of the maneuver.
      </description>
    </field>
    <field name="Direction" abbrev="direction" type="uint8_t" unit="Enumerated" prefix="LD" max="3">
      <description>
        Desired direction.
      </description>
      <value id="0" name="Vehicle Dependent" abbrev="VDEP"/>
      <value id="1" name="Clockwise" abbrev="CLOCKW"/>
      <value id="2" name="Counter Clockwise" abbrev="CCLOCKW"/>
      <value id="3" name="Into the wind/current" abbrev="IWINDCURR"/>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="454" name="Idle Maneuver" abbrev="IdleManeuver" source="" category="Maneuvering">
    <description>
      Causes the vehicle to stay idle for some time.
    </description>
    <field name="Duration" abbrev="duration" type="uint16_t" unit="s">
      <description>
        Optional duration of the Idle maneuver. Use '0' for unlimited
        duration time (maneuver will have to be explicitly stopped).
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="455" name="Low Level Control Maneuver" abbrev="LowLevelControl" source="ccu" category="Maneuvering">
    <description>
      Low level maneuver that sends a (heading, roll, speed, ...)
      reference to a controller of the vehicle and then optionally
      lingers for some time.
    </description>
    <field name="Control" abbrev="control" type="message" message-type="ControlCommand">
      <description>
        Control command: can be of type DesiredZ, DesiredHeading,
        DesiredRoll, DesiredPitch, DesiredSpeed, DesiredThrottle or DesiredPath.
      </description>
    </field>
    <field name="Duration" abbrev="duration" type="uint16_t" unit="s">
      <description>
        Duration of the control.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="456" name="Rows Maneuver" abbrev="Rows" source="ccu" category="Maneuvering">
    <description>Rows maneuver (i.e: lawn mower type maneuver)</description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of target waypoint.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of target waypoint.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Bearing" abbrev="bearing" type="fp64_t" unit="rad" min="0" max="6.283185307179586">
      <description>
        Rows bearing angle.
      </description>
    </field>
    <field name="Cross Angle" abbrev="cross_angle" type="fp64_t" unit="rad" min="-1.047197551197" max="1.047197551197">
      <description>
        Rows cross angle reference.
      </description>
    </field>
    <field name="Width" abbrev="width" min="0" type="fp32_t" unit="m">
      <description>
        Width of the maneuver.
      </description>
    </field>
    <field name="Length" abbrev="length" min="0" type="fp32_t" unit="m">
      <description>
        Length of the maneuver.
      </description>
    </field>
    <field name="Horizontal Step" abbrev="hstep" type="fp32_t" unit="m" min="0" value="30">
      <description>
        Horizontal step.
      </description>
    </field>
    <field name="Curve Offset" abbrev="coff" type="uint8_t" unit="m">
      <description>
        Desired curve offset.
      </description>
    </field>
    <field name="Alternation Parameter" abbrev="alternation" type="uint8_t" unit="%" max="100" value="50">
      <description>
        Alternation parameter.
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="FLG">
      <description>
        Maneuver flags.
      </description>
      <value id="0x0001" name="Square Curve" abbrev="SQUARE_CURVE"/>
      <value id="0x0002" name="First Curve Right" abbrev="CURVE_RIGHT"/>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="457" name="Follow Path Maneuver" abbrev="FollowPath" source="ccu" category="Maneuvering">
    <description>
      Maneuver constituted by a list of Path Points.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>WGS-84 Latitude of start point.</description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>WGS-84 Longitude of start point.</description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Path Points" abbrev="points" type="message-list" message-type="PathPoint">
      <description>
        List of PathPoint messages, encoding the path points.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="458" name="Path Point" abbrev="PathPoint" category="Maneuvering">
    <description>
      Waypoint coordinate of a Follow Path maneuver.
    </description>
    <field name="North Offset (m)" abbrev="x" type="fp32_t" unit="m">
      <description>
        The North offset of the North/East/Down coordinate of this
        point in relation to the path start point.
      </description>
    </field>
    <field name="East Offset (m)" abbrev="y" type="fp32_t" unit="m">
      <description>
        The East offset of the North/East/Down coordinate of this
        point in relation to the path start point.
      </description>
    </field>
    <field name="Down Offset (m)" abbrev="z" type="fp32_t" unit="m">
      <description>
        The Down offset of the North/East/Down coordinate of this
        point in relation to the path start point.
      </description>
    </field>
  </message>

  <message id="459" name="Yo-Yo Maneuver" abbrev="YoYo" source="ccu" category="Maneuvering">
    <description>
      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.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of target waypoint.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of target waypoint.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis.
        Use z_units to specify whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Amplitude" abbrev="amplitude" type="fp32_t" unit="m">
      <description>
        Amplitude.
      </description>
    </field>
    <field name="Pitch Angle" abbrev="pitch" type="fp32_t" unit="rad" min="0" max="0.78539816">
      <description>
        Pitch angle for use in ascent/descent.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="460" name="Teleoperation Done" abbrev="TeleoperationDone" source="ccu" category="Maneuvering">
    <description>
      Notification of completion of a Teleoperation maneuver.
    </description>
  </message>

  <message id="461" name="Station Keeping" abbrev="StationKeeping" source="ccu" category="Maneuvering">
    <description>
      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.
    </description>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Radius" abbrev="radius" type="fp32_t" unit="m">
      <description>Radius.</description>
    </field>
    <field name="Duration" abbrev="duration" type="uint16_t" unit="s">
      <description>Duration (0 for unlimited).</description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        The value of the desired speed, in the scale specified
        by the "Speed Units" field.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" unit="Enumerated" enum-def="SpeedUnits">
      <description>Indicates the units used for the speed value.</description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="462" name="Elevator Maneuver" abbrev="Elevator" source="ccu" category="Maneuvering">
    <description>
      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. The ascent/descent
      slope and radius can also be optionally specified.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        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.
      </description>
    </field>
    <field name="Flags" abbrev="flags" prefix="FLG" type="uint8_t" unit="Bitfield">
      <description>
        Flags of the maneuver.
      </description>
      <value id="0x01" abbrev="CURR_POS" name="Start from current position">
        <description>
          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.
        </description>
      </value>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude.
      </description>
    </field>
    <field name="Start Point -- Z Reference" abbrev="start_z" type="fp32_t" unit="m">
      <description>
        Altitude or depth of start point. This parameter will be
        ignored if the 'NO_Z' flag is set, or if the 'START' flag is
        not set.
      </description>
    </field>
    <field name="Start Point -- Z Units" abbrev="start_z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the start point's z reference.
      </description>
    </field>
    <field name="End Point -- Z Reference" abbrev="end_z" type="fp32_t" unit="m">
      <description>
        Depth or altitude for the end point.  This parameter will be
        ignored if the 'NO_Z' flag is set.
      </description>
    </field>
    <field name="End Point -- Z Units" abbrev="end_z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the end point's z reference.
      </description>
    </field>
    <field name="Radius" abbrev="radius" type="fp32_t" unit="m" min="0">
      <description>
        Radius for use in ascent/descent. If 0 the controller to
        should use a custom control strategy.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="463" name="Follow Trajectory" abbrev="FollowTrajectory" source="ccu" category="Maneuvering">
    <description>
      Maneuver constituted by a list of Trajectory Points.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude for start point.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude for start point.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Trajectory Points" abbrev="points" type="message-list" message-type="TrajectoryPoint">
      <description>
        List of trajectory points.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="464" name="Trajectory Point" abbrev="TrajectoryPoint" category="Maneuvering">
    <description>
      Waypoint coordinate of a Follow Trajectory maneuver.
    </description>
    <field name="North Offset (m)" abbrev="x" type="fp32_t" unit="m">
      <description>
        The North offset of the North/East/Down coordinate of this
        point in relation to the trajectory start point.
      </description>
    </field>
    <field name="East Offset (m)" abbrev="y" type="fp32_t" unit="m">
      <description>
        The East offset of the North/East/Down coordinate of this
        point in relation to the trajectory start point.
      </description>
    </field>
    <field name="Down Offset (m)" abbrev="z" type="fp32_t" unit="m">
      <description>
        The Down offset of the North/East/Down coordinate of this
        point in relation to the trajectory start point.
      </description>
    </field>
    <field name="Time Offset (s)" abbrev="t" type="fp32_t" unit="s">
      <description>
        The time offset relative to the previous trajectory point.
      </description>
    </field>
  </message>

  <message id="465" name="Custom Maneuver" abbrev="CustomManeuver" source="ccu" category="Maneuvering">
    <description>
      The Custom Maneuver message may be used as specification of a
      very specific maneuver not covered by the IMC scope. The
      settings of the maneuver are just its id, timeout and other
      settings encoded as a tuple list.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        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.
      </description>
    </field>
    <field name="Maneuver Name" abbrev="name" type="plaintext">
      <description>
        The maneuver name, used as key by an implementation to bind
        the maneuver to the corresponding controller.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="466" name="Vehicle Formation" abbrev="VehicleFormation" source="ccu" category="Maneuvering">
    <description>
      Coordinate maneuver using two or more cooperating systems.
    </description>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude for start point.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude for start point.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Reference speed.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Reference speed units.
      </description>
    </field>
    <field name="Trajectory Points" abbrev="points" type="message-list" message-type="TrajectoryPoint">
      <description>
        List of trajectory points.
      </description>
    </field>
    <field name="Formation Participants" abbrev="participants" type="message-list" message-type="VehicleFormationParticipant">
      <description>
        List of formation participants.
      </description>
    </field>
    <field name="Start Time" abbrev="start_time" type="fp64_t" unit="s">
      <description>
        Optional start time hint for vehicle formation.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="467" name="Vehicle Formation Participant" abbrev="VehicleFormationParticipant" category="Maneuvering">
    <description>
      Definition of a vehicle participant in a VehicleFormation maneuver.
    </description>
    <field name="ID (IMC address)" abbrev="vid" type="uint16_t">
      <description>
        IMC address of vehicle.
      </description>
    </field>
    <field name="Formation offset -- Along-track" abbrev="off_x" type="fp32_t" unit="m">
      <description>
        Distance that the system must respect along the xx axis.
      </description>
    </field>
    <field name="Formation offset -- Cross-track" abbrev="off_y" type="fp32_t" unit="m">
      <description>
        Distance that the system must respect along the yy axis.
      </description>
    </field>
    <field name="Formation offset -- Depth/Altitude" abbrev="off_z" type="fp32_t" unit="m">
      <description>
        Distance that the system must respect along the zz axis.
      </description>
    </field>
  </message>

  <message id="468" name="Stop Maneuver" abbrev="StopManeuver" source="vehicle" category="Maneuvering">
    <description>
      Command used to stop currently executing maneuver.
    </description>
  </message>

  <message id="469" name="Register Maneuver" abbrev="RegisterManeuver" source="vehicle" category="Maneuvering">
    <description>
      Command used to indicate maneuver can be executed in the
      vehicle.
    </description>
    <field name="Maneuver ID" type="uint16_t" abbrev="mid">
      <description>
        IMC serialization ID of maneuver type.
      </description>
    </field>
  </message>

  <message id="470" name="Maneuver Control State" abbrev="ManeuverControlState" source="vehicle" category="Maneuvering">
    <description>
      Maneuver control state.
    </description>
    <field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="MCS">
      <description>
        Code indicating maneuver state.
      </description>
      <value id="0" name="Maneuver in progress" abbrev="EXECUTING">
        <description>
          Maneuver in progress.
        </description>
      </value>
      <value id="1" name="Maneuver completed" abbrev="DONE">
        <description>
          Maneuver completed.
        </description>
      </value>
      <value id="2" name="Maneuver error" abbrev="ERROR">
        <description>
          Maneuver error.
        </description>
      </value>
      <value id="3" name="Maneuver stopped" abbrev="STOPPED">
        <description>
          Maneuver stopped.
        </description>
      </value>
    </field>
    <field name="Completion Time" abbrev="eta" type="uint16_t" unit="s">
      <description>
        Estimated time to completion of the maneuver, when executing.
        The value will be 65535 if the time is unknown or undefined.
      </description>
    </field>
    <field name="Info" abbrev="info" type="plaintext">
      <description>
        Complementary information, e.g., regarding errors.
      </description>
    </field>
  </message>

  <message id="471" name="Follow System" abbrev="FollowSystem" source="ccu,vehicle" category="Maneuvering">
    <description>
      System-following maneuver.
    </description>
    <field name="System To Follow" abbrev="system" type="uint16_t">
      <description>
        IMC address of system to follow.
      </description>
    </field>
    <field name="Duration" abbrev="duration" type="uint16_t" unit="s">
      <description>
        Duration of maneuver, 0 for unlimited duration.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Reference speed.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Reference speed units.
      </description>
    </field>
    <field name="Offset -- X" abbrev="x" type="fp32_t">
      <description>
        Along-track offset.
      </description>
    </field>
    <field name="Offset -- Y" abbrev="y" type="fp32_t">
      <description>
        Cross-track offset.
      </description>
    </field>
    <field name="Coordinate -- Z" abbrev="z" type="fp32_t">
      <description>
        Coordinate z during follow maneuver. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
  </message>

  <message id="472" abbrev="CommsRelay" name="Communications Relay" category="Maneuvering">
    <description>
      In this maneuver, a vehicle drives to the center of two other
      systems (a, b) in order to be used as a communications relay.
    </description>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude for start point.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude for start point.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Reference speed.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Reference speed units.
      </description>
    </field>
    <field name="Duration" abbrev="duration" type="uint16_t" unit="s">
      <description>
        Duration of maneuver, 0 for unlimited duration.
      </description>
    </field>
    <field name="System A" abbrev="sys_a" type="uint16_t">
      <description>
        The IMC id of the system A.
      </description>
    </field>
    <field name="System B" abbrev="sys_b" type="uint16_t">
      <description>
        The IMC id of the system B.
      </description>
    </field>
    <field name="Move threshold" abbrev="move_threshold" type="fp32_t" unit="m">
      <description>
        Move only if the distance to the target is bigger than this
        threshold.
      </description>
    </field>
  </message>

  <message id="473" abbrev="CoverArea" name="Cover Area" category="Maneuvering">
    <description>
      Given a polygonal area, generates trajectories to cover the
      area.
    </description>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude for start point.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude for start point.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Reference speed.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Reference speed units.
      </description>
    </field>
    <field name="Polygon" abbrev="polygon" type="message-list" message-type="PolygonVertex">
      <description>
        Message list of type PolygonVertex.
      </description>
    </field>
    <field name="CustomParameters" abbrev="custom" type="plaintext" unit="TupleList">
      <description>
        Additional parameters to be used by the controller.
      </description>
    </field>
  </message>

  <message id="474" abbrev="PolygonVertex" name="Polygon Vertex" category="Maneuvering">
    <description>
      This message is used to store the various polygon vertices for
      CoverArea maneuvers.
    </description>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude for start point.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude for start point.
      </description>
    </field>
  </message>

  <message id="475" name="Compass Calibration Maneuver" abbrev="CompassCalibration" source="ccu" category="Maneuvering">
    <description>
      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.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The timeout indicates the time that an error should occur if
        exceeded.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude coordinate.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude coordinate.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Pitch" abbrev="pitch" type="fp32_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        Pitch angle used to perform the maneuver.
      </description>
    </field>
    <field name="Amplitude" abbrev="amplitude" type="fp32_t" unit="m">
      <description>
        Yoyo motion amplitude.
      </description>
    </field>
    <field name="Duration" abbrev="duration" type="uint16_t" unit="s">
      <description>
        The duration of this maneuver. Use '0' for unlimited duration time.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Radius" abbrev="radius" type="fp32_t" unit="m" min="1" max="100000">
      <description>
        Radius of the maneuver.
      </description>
    </field>
    <field name="Direction" abbrev="direction" type="uint8_t" unit="Enumerated" prefix="LD" max="3">
      <description>
        Direction of the maneuver.
      </description>
      <value id="0" name="Vehicle Dependent" abbrev="VDEP"/>
      <value id="1" name="Clockwise" abbrev="CLOCKW"/>
      <value id="2" name="Counter Clockwise" abbrev="CCLOCKW"/>
      <value id="3" name="Into the wind/current" abbrev="IWINDCURR"/>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="476" name="Formation Parameters" abbrev="FormationParameters" source="ccu" category="Maneuvering">
    <description>
      A "Formation" is defined by the relative positions of the vehicles
      inside the formation, and the reference frame where this positions are defined.

      The formation reference frame may be:
      - Earth Fixed: Where the vehicles relative position do not depend on the followed path.
      This results in all UAVs following the same path with an offset relative to each other;
      - Path Fixed:  Where the vehicles relative position depends on the followed path,
      changing the inter-vehicle offset direction with the path direction.
      - Path Curved:  Where the vehicles relative position depends on the followed path,
      changing the inter-vehicle offset direction with the path direction and direction
      change rate.
      An offset in the xx axis results in a distance over the curved path line.
      An offset in the yy axis results in an offset of the vehicle path line relative to the
      formation center path line.
    </description>
    <field name="Formation Name" abbrev="formation_name" type="plaintext">
      <description>
        Name of the formation configuration.
      </description>
    </field>
    <field name="Formation Reference Frame" abbrev="reference_frame" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Formation reference frame
      </description>
      <value id="0" name="Earth Fixed" abbrev="EARTH_FIXED"/>
      <value id="1" name="Path Fixed" abbrev="PATH_FIXED"/>
      <value id="2" name="Path Curved" abbrev="PATH_CURVED"/>
    </field>
    <field name="Formation Participants" abbrev="participants" type="message-list" message-type="VehicleFormationParticipant">
      <description>
        List of formation participants.
      </description>
    </field>
    <field name="Custom settings for formation" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for the formation configuration.
      </description>
    </field>
  </message>

  <message id="477" name="Formation Plan Execution" abbrev="FormationPlanExecution" source="ccu" category="Maneuvering">
    <description>
      A "Formation Plan" is a maneuver specifying a plan for a team of vehicles.
      The maneuver defines:
      - Vehicles included in the formation group
      - Formation shape configuration
      - Plan (set of maneuvers) to be followed by the formation center
      - Speed at which that plan is followed
      - Path contrains (virtual leader bank limit)
      - Supervision settings
    </description>
    <field name="Target Group Name" abbrev="group_name" type="plaintext">
      <description>
        Target group for the formation plan.
      </description>
    </field>
    <field name="Formation Name" abbrev="formation_name" type="plaintext">
      <description>
        Name of the formation configuration.
      </description>
    </field>
    <field name="Formation Plan ID" abbrev="plan_id" type="plaintext">
      <description>
        The flight plan's identifier.
        Flight plan defined to be tracked by the formation leader.
      </description>
    </field>
    <field name="Plan Description" abbrev="description" type="plaintext">
      <description>
        Verbose text description of plan.
      </description>
    </field>
    <field name="Formation Leader Flight Airspeed" abbrev="leader_speed" type="fp32_t" unit="m/s">
      <description>
        Formation leader flight airspeed during the plan tracking.
      </description>
    </field>
    <field name="Formation leader flight bank limit" abbrev="leader_bank_lim" type="fp32_t" unit="m/s">
      <description>
        Formation leader flight bank limit during the plan tracking.
      </description>
    </field>
    <field name="Position mismatch limit" abbrev="pos_sim_err_lim" type="fp32_t" unit="m">
      <description>
        Limit for the position mismatch between real and simulated position, before a maneuver abort is asserted.
      </description>
    </field>
    <field name="Position mismatch threshold" abbrev="pos_sim_err_wrn" type="fp32_t" unit="m">
      <description>
        Warning threshold for the position mismatch between real and simulated position.
        Above this threshold a time-out limit is evaluated to assert a maneuver abort state.
      </description>
    </field>
    <field name="Position mismatch time-out" abbrev="pos_sim_err_timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run after the position mismatch threshold is surpassed.
      </description>
    </field>
    <field name="Convergence threshold" abbrev="converg_max" type="fp32_t" unit="m">
      <description>
        Threshold for the convergence measure, above which a time-out limit
        is evaluated to assert a maneuver abort state.
      </description>
    </field>
    <field name="Convergence time-out" abbrev="converg_timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run after the convergence threshold is surpassed.
      </description>
    </field>
    <field name="Communications time-out" abbrev="comms_timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run without any update on the other formation vehicles states.
      </description>
    </field>
    <field name="Turbulence limit" abbrev="turb_lim" type="fp32_t" unit="m/s">
      <description>
        Turbulence limit above which a maneuver abort is asserted.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="478" name="Follow Reference Maneuver" abbrev="FollowReference" source="ccu" category="Maneuvering">
    <description>
      This maneuver follows a reference given by an external entity.
    </description>
    <field name="Controlling Source" abbrev="control_src" type="uint16_t">
      <description>
        The IMC identifier of the source system that is allowed to provide references to this maneuver.
        If the value ''0xFFFF'' is used, any system is allowed to command references.
      </description>
    </field>
    <field name="Controlling Entity" abbrev="control_ent" type="uint8_t">
      <description>
        The entity identifier of the entity that is allowed to provide references to this maneuver.
        If the value ''0xFF'' is used, any entity is allowed to command references.
      </description>
    </field>
    <field name="Reference Update Timeout" abbrev="timeout" type="fp32_t">
      <description>
        The ammount of time, in seconds, after which the maneuver will be terminated if no reference has
        been received. In other words, the controlling entity should send reference updates in shorter periods than
        'timeout'.
      </description>
    </field>
    <field name="Loiter Radius" abbrev="loiter_radius" type="fp32_t">
      <description>
        Whenever an intended reference is achieved, this maneuver will maintain the vehicle in vaticiny of that
        location. The loiter radius is used to define the radius of this (xy) area.
      </description>
    </field>
    <field name="Altitude Interval" abbrev="altitude_interval" type="fp32_t">
      <description>
        Similarly to Loiter Radius, this field is used to define the "z" distance considered to be inside the vacitiny of
        the target location. An AUV may, for instance, be floating until it more than z units above the current reference,
        in which case it actively changes its position in order to achieve the desired depth / altitude.
      </description>
    </field>
  </message>

  <message id="479" name="Reference To Follow" abbrev="Reference" source="ccu,vehicle" category="Maneuvering">
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="FLAG">
      <value abbrev="LOCATION" name="Use Location Reference" id="0x01"/>
      <value abbrev="SPEED" name="Use Speed Reference" id="0x02"/>
      <value abbrev="Z" name="Use Z Reference" id="0x04"/>
      <value abbrev="RADIUS" name="Use Radius Reference" id="0x08"/>
      <value abbrev="START_POINT" name="Use this Reference as Start Position for PathControler" id="0x10"/>
      <value abbrev="DIRECT" name="Use Current Position as Start Position for PathControler" id="0x20"/>
      <value abbrev="MANDONE" name="Flag Maneuver Completion" id="0x80"/>
    </field>
    <field name="Speed Reference" abbrev="speed" type="message" message-type="DesiredSpeed"/>
    <field name="Z Reference" abbrev="z" type="message" message-type="DesiredZ"/>
    <field name="Latitude Reference" abbrev="lat" type="fp64_t"/>
    <field name="Longitude Reference" abbrev="lon" type="fp64_t"/>
    <field name="Radius" abbrev="radius" type="fp32_t"/>
  </message>

  <message id="480" name="Follow Reference State" abbrev="FollowRefState" source="vehicle" category="Maneuvering">
    <field name="Controlling Source" abbrev="control_src" type="uint16_t">
      <description>
        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.
      </description>
    </field>
    <field name="Controlling Entity" abbrev="control_ent" type="uint8_t">
      <description>
        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.
      </description>
    </field>
    <field name="Reference" abbrev="reference" type="message" message-type="Reference">
      <description>Reference currently being followed.</description>
    </field>
    <field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="FR">
      <value abbrev="WAIT" name="Waiting for first reference" id="1"/>
      <value abbrev="GOTO" name="Going towards received reference" id="2"/>
      <value abbrev="LOITER" name="Loitering after arriving at the reference" id="3"/>
      <value abbrev="HOVER" name="Hovering after arriving at the reference" id="4"/>
      <value abbrev="ELEVATOR" name="Moving in z after arriving at the target cylinder" id="5"/>
      <value abbrev="TIMEOUT" name="Controlling system timed out" id="6"/>
    </field>
    <field name="Proximity" abbrev="proximity" type="uint8_t" unit="Bitfield" prefix="PROX">
      <value abbrev="FAR" name="Far from the destination" id="0x01"/>
      <value abbrev="XY_NEAR" name="Near in the horizontal plane" id="0x02"/>
      <value abbrev="Z_NEAR" name="Near in the vertical plane" id="0x04"/>
      <value abbrev="XY_UNREACHABLE" name="Unreachable in the horizontal plane" id="0x08"/>
      <value abbrev="Z_UNREACHABLE" name="Unreachable in the vertical plane" id="0x10"/>
    </field>
  </message>

  <message id="481" name="Formation Monitoring Data" abbrev="FormationMonitor" category="Maneuvering">
    <description>
      Monitoring variables for the formation state and performance.
    </description>
    <field name="Commanded X Acceleration (North)" abbrev="ax_cmd" type="fp32_t">
      <description>
        Commanded acceleration computed by the formation controller: northward direction.
        On the vehicle directional reference frame.
        Constrained by the vehicle operational limits.
      </description>
    </field>
    <field name="Commanded Y Acceleration (East)" abbrev="ay_cmd" type="fp32_t">
      <description>
        Commanded acceleration computed by the formation controller: eastward direction.
        On the vehicle directional reference frame.
        Constrained by the vehicle operational limits.
      </description>
    </field>
    <field name="Commanded Z Acceleration (Down)" abbrev="az_cmd" type="fp32_t">
      <description>
        Commanded acceleration computed by the formation controller: downward direction.
        On the vehicle directional reference frame.
        Constrained by the vehicle operational limits.
      </description>
    </field>
    <field name="Desired X Acceleration (North)" abbrev="ax_des" type="fp32_t">
      <description>
        Desired acceleration computed by the formation controller: northward direction.
        On the fixed reference frame.
      </description>
    </field>
    <field name="Desired Y Acceleration (East)" abbrev="ay_des" type="fp32_t">
      <description>
        Desired acceleration computed by the formation controller: eastward direction.
        On the fixed reference frame.
      </description>
    </field>
    <field name="Desired Z Acceleration (Down)" abbrev="az_des" type="fp32_t">
      <description>
        Desired acceleration computed by the formation controller: downward direction.
        On the fixed reference frame.
      </description>
    </field>
    <field name="X Virtual Error (North)" abbrev="virt_err_x" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Overall formation combined virtual error: northward direction.
        On the fixed reference frame.
      </description>
    </field>
    <field name="Y Virtual Error (East)" abbrev="virt_err_y" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Overall formation combined virtual error: eastward direction.
        On the fixed reference frame.
      </description>
    </field>
    <field name="Z Virtual Error (Down)" abbrev="virt_err_z" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Overall formation combined virtual error: downward direction.
        On the fixed reference frame.
      </description>
    </field>
    <field name="X Sliding Surface Feedback (North)" abbrev="surf_fdbk_x" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Overall formation combined sliding surface feedback: northward direction.
        On the fixed reference frame.
      </description>
    </field>
    <field name="Y Sliding Surface Feedback (East)" abbrev="surf_fdbk_y" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Overall formation combined sliding surface feedback: eastward direction.
        On the fixed reference frame.
      </description>
    </field>
    <field name="Z Sliding Surface Feedback (Down)" abbrev="surf_fdbk_z" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Overall formation combined sliding surface feedback: downward direction.
        On the fixed reference frame.
      </description>
    </field>
    <field name="X Uncertainty Compensation (North)" abbrev="surf_unkn_x" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Dynamics uncertainty compensation: northward direction.
      </description>
    </field>
    <field name="Y Uncertainty Compensation (East)" abbrev="surf_unkn_y" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Dynamics uncertainty compensation: eastward direction.
      </description>
    </field>
    <field name="Z Uncertainty Compensation (Down)" abbrev="surf_unkn_z" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Dynamics uncertainty compensation: downward direction.
      </description>
    </field>
    <field name="X Convergence Deviation (North)" abbrev="ss_x" type="fp32_t">
      <description>
        Combined deviation from convergence (sliding surface): North component.
      </description>
    </field>
    <field name="Y Convergence Deviation (East)" abbrev="ss_y" type="fp32_t">
      <description>
        Combined deviation from convergence (sliding surface): East component.
      </description>
    </field>
    <field name="Z Convergence Deviation (Down)" abbrev="ss_z" type="fp32_t">
      <description>
        Combined deviation from convergence (sliding surface): Down component.
      </description>
    </field>
    <field name="Relative State" abbrev="rel_state" type="message-list" message-type="RelativeState">
      <description>
        List of RelativeState messages, encoding the inter-vehicle formation state.
      </description>
    </field>
  </message>

  <message id="482" name="Relative State" abbrev="RelativeState" category="Maneuvering">
    <description>
      Inter-vehicle formation state.
    </description>
    <field name="System Identifier" abbrev="s_id" type="plaintext">
      <description>
        The identifier of the vehicle whose relative state is being reported.
      </description>
    </field>
    <field name="Distance" abbrev="dist" type="fp32_t">
      <description>
        Distance between vehicles.
      </description>
    </field>
    <field name="Position Error" abbrev="err" type="fp32_t">
      <description>
        Relative position error norm.
      </description>
    </field>
    <field name="Control Importance" abbrev="ctrl_imp" type="fp32_t">
      <description>
        Weight in the computation of the desired acceleration.
      </description>
    </field>
    <field name="Relative Direction X (North)" abbrev="rel_dir_x" type="fp32_t">
      <description>
        Inter-vehicle direction vector: North component.
      </description>
    </field>
    <field name="Relative Direction Y (East)" abbrev="rel_dir_y" type="fp32_t">
      <description>
        Inter-vehicle direction vector: East component.
      </description>
    </field>
    <field name="Relative Direction Z (Down)" abbrev="rel_dir_z" type="fp32_t">
      <description>
        Inter-vehicle direction vector: Down component.
      </description>
    </field>
    <field name="X Position Error (North)" abbrev="err_x" type="fp32_t">
      <description>
        Relative position error: North component.
      </description>
    </field>
    <field name="Y Position Error (East)" abbrev="err_y" type="fp32_t">
      <description>
        Relative position error: East component.
      </description>
    </field>
    <field name="Z Position Error (Down)" abbrev="err_z" type="fp32_t">
      <description>
        Relative position error: Down component.
      </description>
    </field>
    <field name="X Position Error In Relative Frame (North)" abbrev="rf_err_x" type="fp32_t">
      <description>
        Relative position error: X component on the inter-vehicle reference frame.
      </description>
    </field>
    <field name="Y Position Error In Relative Frame (East)" abbrev="rf_err_y" type="fp32_t">
      <description>
        Relative position error: Y component on the inter-vehicle reference frame.
      </description>
    </field>
    <field name="Z Position Error In Relative Frame (Down)" abbrev="rf_err_z" type="fp32_t">
      <description>
        Relative position error: Z component on the inter-vehicle reference frame.
      </description>
    </field>
    <field name="X Velocity Error In Relative Frame (North)" abbrev="rf_err_vx" type="fp32_t">
      <description>
        Relative veloctity error: X component in the inter-vehicle reference frame.
      </description>
    </field>
    <field name="Y Velocity Error In Relative Frame (East)" abbrev="rf_err_vy" type="fp32_t">
      <description>
        Relative velocity error: Y component on the inter-vehicle reference frame.
      </description>
    </field>
    <field name="Z Velocity Error In Relative Frame (Down)" abbrev="rf_err_vz" type="fp32_t">
      <description>
        Relative velocity error: Z component on the inter-vehicle reference frame.
      </description>
    </field>
    <field name="X Convergence Deviation (North)" abbrev="ss_x" type="fp32_t">
      <description>
        Deviation from convergence (sliding surface): X component on the inter-vehicle reference frame.
      </description>
    </field>
    <field name="Y Convergence Deviation (East)" abbrev="ss_y" type="fp32_t">
      <description>
        Deviation from convergence (sliding surface): Y component on the inter-vehicle reference frame.
      </description>
    </field>
    <field name="Z Convergence Deviation (Down)" abbrev="ss_z" type="fp32_t">
      <description>
        Deviation from convergence (sliding surface): Z component on the inter-vehicle reference frame.
      </description>
    </field>
    <field name="X Virtual Error (North)" abbrev="virt_err_x" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Relative virtual error: northward direction.
      </description>
    </field>
    <field name="Y Virtual Error (East)" abbrev="virt_err_y" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Relative virtual error: eastward direction.
      </description>
    </field>
    <field name="Z Virtual Error (Down)" abbrev="virt_err_z" type="fp32_t">
      <description>
        Components of the vehicle desired acceleration.
        Relative virtual error: downward direction.
      </description>
    </field>
  </message>

  <message id="483" name="Dislodge Maneuver" abbrev="Dislodge" source="ccu" category="Maneuvering">
    <description>
      A "Dislodge" is a maneuver ordering the vehicle to attempt a
      series of thruster operations that will hopefully get it
      unstuck from an entangled condition.

      Parameters are RPMs for the motor when attempting dislodge and
      and a flag specifying whether the thrust burst should be attempted
      forward, backward or auto (letting the vehicle decide).
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run.
      </description>
    </field>
    <field name="RPM" abbrev="rpm" type="fp32_t">
      <description>
        Maneuver RPM reference.
      </description>
    </field>
    <field name="Direction" abbrev="direction" type="uint8_t" unit="Enumerated" prefix="DIR">
      <description>
        Direction to which the vehicle should attempt to unstuck.
      </description>
      <value abbrev="AUTO" name="Let the vehicle decide" id="0"/>
      <value abbrev="FORWARD" name="Attempt to move forward" id="1"/>
      <value abbrev="BACKWARD" name="Attempt to move backward" id="2"/>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="484" name="Formation" abbrev="Formation" source="ccu,vehicle" category="Maneuvering">
    <description>
      The "Formation" is a controller to execute a maneuver with a team of vehicles.
      It defines the:
      - Vehicles included in the formation group
      - Vehicles relative positions inside the formation
      - Reference frame where the relative positions are defined
      - Formation shape configuration
      - Plan (set of maneuvers) to be followed by the formation center
      - Plan contrains (virtual leader speed and bank limits)
      - Supervision settings

      The formation reference frame may be:
      - Earth Fixed: Where the vehicles relative position do not depend on the followed path.
      This results in all UAVs following the same path with an offset relative to each other;
      - Path Fixed:  Where the vehicles relative position depends on the followed path,
      changing the inter-vehicle offset direction with the path direction.
      - Path Curved:  Where the vehicles relative position depends on the followed path,
      changing the inter-vehicle offset direction with the path direction and direction
      change rate.
      An offset in the xx axis results in a distance over the curved path line.
      An offset in the yy axis results in an offset of the vehicle path line relative to the
      formation center path line.
    </description>
    <field name="Formation Name" abbrev="formation_name" type="plaintext">
      <description>
        Name of the formation configuration.
      </description>
    </field>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="FC">
      <description>
        Indicates if the message is a request, or a reply to a previous request.
      </description>
      <value id="0" name="Request" abbrev="REQUEST"/>
      <value id="1" name="Report" abbrev="REPORT"/>
    </field>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Operation to perform.
      </description>
      <value id="0" name="Start" abbrev="START">
        <description>
          Start the formation maneuver.
        </description>
      </value>
      <value id="1" name="Stop" abbrev="STOP">
        <description>
          Stop the formation maneuver.
        </description>
      </value>
      <value id="2" name="Ready" abbrev="READY">
        <description>
          Stop the formation maneuver.
        </description>
      </value>
      <value id="3" name="Executing" abbrev="EXECUTING">
        <description>
          Stop the formation maneuver.
        </description>
      </value>
      <value id="4" name="Failure" abbrev="FAILURE">
        <description>
          Stop the formation maneuver.
        </description>
      </value>
    </field>
    <field name="Target Group Name" abbrev="group_name" type="plaintext">
      <description>
        Target group for the formation plan.
      </description>
    </field>
    <field name="Formation Plan ID" abbrev="plan_id" type="plaintext">
      <description>
        The flight plan's identifier.
        Flight plan defined to be tracked by the formation leader.
      </description>
    </field>
    <field name="Plan Description" abbrev="description" type="plaintext">
      <description>
        Verbose text description of plan.
      </description>
    </field>
    <field name="Formation Reference Frame" abbrev="reference_frame" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Formation reference frame
      </description>
      <value id="0" name="Earth Fixed" abbrev="EARTH_FIXED"/>
      <value id="1" name="Path Fixed" abbrev="PATH_FIXED"/>
      <value id="2" name="Path Curved" abbrev="PATH_CURVED"/>
    </field>
    <field name="Formation Participants" abbrev="participants" type="message-list" message-type="VehicleFormationParticipant">
      <description>
        List of formation participants.
      </description>
    </field>
    <field name="Formation Leader Bank Limit" abbrev="leader_bank_lim" type="fp32_t" unit="rad">
      <description>
        Maximum absolute bank allowed for the formation leader.
      </description>
    </field>
    <field name="Formation Leader Minimum Speed" abbrev="leader_speed_min" type="fp32_t" unit="m/s">
      <description>
        Minimum speed allowed for the formation leader flight.
      </description>
    </field>
    <field name="Formation Leader Maximum Speed" abbrev="leader_speed_max" type="fp32_t" unit="m/s">
      <description>
        Maximum speed allowed for the formation leader flight.
      </description>
    </field>
    <field name="Formation Leader Minimum Altitude" abbrev="leader_alt_min" type="fp32_t" unit="m">
      <description>
        Minimum altitude allowed for the formation leader flight.
      </description>
    </field>
    <field name="Formation Leader Maximum Altitude" abbrev="leader_alt_max" type="fp32_t" unit="m">
      <description>
        Maximum altitude allowed for the formation leader flight.
      </description>
    </field>
    <field name="Position mismatch limit" abbrev="pos_sim_err_lim" type="fp32_t" unit="m">
      <description>
        Limit for the position mismatch between real and simulated position, before a maneuver abort is asserted.
      </description>
    </field>
    <field name="Position mismatch threshold" abbrev="pos_sim_err_wrn" type="fp32_t" unit="m">
      <description>
        Warning threshold for the position mismatch between real and simulated position.
        Above this threshold a time-out limit is evaluated to assert a maneuver abort state.
      </description>
    </field>
    <field name="Position mismatch time-out" abbrev="pos_sim_err_timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run after the position mismatch threshold is surpassed.
      </description>
    </field>
    <field name="Convergence threshold" abbrev="converg_max" type="fp32_t" unit="m">
      <description>
        Threshold for the convergence measure, above which a time-out limit
        is evaluated to assert a maneuver abort state.
      </description>
    </field>
    <field name="Convergence time-out" abbrev="converg_timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run after the convergence threshold is surpassed.
      </description>
    </field>
    <field name="Communications time-out" abbrev="comms_timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run without any update on the other formation vehicles states.
      </description>
    </field>
    <field name="Turbulence limit" abbrev="turb_lim" type="fp32_t" unit="m/s">
      <description>
        Turbulence limit above which a maneuver abort is asserted.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="485" name="Launch Maneuver" abbrev="Launch" source="ccu" category="Maneuvering">
    <description>
      A "Launch" is a maneuver specifying a movement of the vehicle to a
      target waypoint after being launched from a ship or pier.
      The waypoint is described by the WGS-84 waypoint coordinate and
      target Z reference.

      Mandatory parameters defined for a "Launch" are
      timeout, speed and speed units.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of target waypoint.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of target waypoint.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Target reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="486" name="Drop Maneuver" abbrev="Drop" source="ccu" category="Maneuvering">
    <description>
      A "Drop" 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.

      Mandatory parameters defined for a "Goto" are
      timeout, speed and speed units.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of target waypoint.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of target waypoint.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Target reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="487" name="Scheduled Goto" abbrev="ScheduledGoto" source="ccu" category="Maneuvering">
    <description>
      This maneuver is used to command the vehicle to arrive at some destination at
      a specified absolute time.

      The vehicle's speed will vary according to environment conditions and/or maneuver start time.
    </description>
    <field name="Time of arrival" abbrev="arrival_time" type="fp64_t" unit="s">
      <description>
        Unix timestamp, in seconds, for the arrival at the destination.
      </description>
    </field>
    <field name="Destination Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of target waypoint.
      </description>
    </field>
    <field name="Destination Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of target waypoint.
      </description>
    </field>
    <field name="Destination Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Target reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the destination z reference.
      </description>
    </field>
    <field name="Travel Z Reference" abbrev="travel_z" type="fp32_t" unit="m">
      <description>
        Z reference to use while travelling to the destination.
      </description>
    </field>
    <field name="Travel Z Units" abbrev="travel_z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Z reference units to use while travelling to the destination.
      </description>
    </field>
    <field name="Delayed Behavior" abbrev="delayed" type="uint8_t" value="0" unit="Enumerated" prefix="DBEH">
      <description>
        What to do if the vehicle fails to arrive before or at the requested time.
      </description>
      <value abbrev="RESUME" name="Resume" id="0">
        <description>
          If the vehicle fails to arrive at the specified time, it will keep going to the destination
          at top speed and only then consider this maneuver completed.
        </description>
      </value>
      <value abbrev="SKIP" name="Skip" id="1">
        <description>
          If the vehicle fails to arrive at the specified time, it will stop the current maneuver and
          advance to the next one (independently of how far it is from destination).
        </description>
      </value>
      <value abbrev="FAIL" name="Fail" id="2">
        <description>
          If the vehicle fails to arrive at the specified time, it will stop the execution of this
          maneuver with a FAILED result (the entire plan will be stopped).
        </description>
      </value>
    </field>
  </message>

  <message id="488" name="Rows Coverage" abbrev="RowsCoverage" source="ccu" category="Maneuvering">
    <description>Rows coverage (i.e: lawn mower type maneuver) but with adaptive cover</description>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of target waypoint.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of target waypoint.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Bearing" abbrev="bearing" type="fp64_t" unit="rad" min="0" max="6.283185307179586">
      <description>
        Rows bearing angle.
      </description>
    </field>
    <field name="Cross Angle" abbrev="cross_angle" type="fp64_t" unit="rad" min="-1.047197551197" max="1.047197551197">
      <description>
        Rows cross angle reference.
      </description>
    </field>
    <field name="Width" abbrev="width" min="0" type="fp32_t" unit="m">
      <description>
        Width of the maneuver.
      </description>
    </field>
    <field name="Length" abbrev="length" min="0" type="fp32_t" unit="m">
      <description>
        Length of the maneuver.
      </description>
    </field>
    <field name="Curve Offset" abbrev="coff" type="uint8_t" unit="m">
      <description>
        Desired curve offset.
      </description>
    </field>
    <field name="Angular Aperture" abbrev="angAperture" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793" value="2.094395">
      <description>
         Angular aperture of the sensor (looking downwards).
      </description>
    </field>
    <field name="Range" abbrev="range" type="uint16_t" unit="m">
      <description>
        Maximum range of the sensor (in meters downwards from the vehicle's position).
      </description>
    </field>
    <field name="Overlap" abbrev="overlap" type="uint8_t" unit="%" max="100" value="10">
      <description>
        Amount of overlap among different transect surveys.
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="FLG">
      <description>
        Maneuver optional flags.
      </description>
      <value id="0x01" name="Square Curve" abbrev="SQUARE_CURVE">
        <description>
          Whether to move between transects using an additional perpendicular transect.
        </description>
      </value>
      <value id="0x02" name="First Curve Right" abbrev="CURVE_RIGHT">
        <description>
          Shall the vehicle turn towards the right after the first transect (alternatively it will turn left).
        </description>
      </value>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

   <message id="489" name="Sample Maneuver" abbrev="Sample" source="ccu" category="Maneuvering">
    <description>
      A "Sample" 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.

      Mandatory parameters defined for a "Goto" are
      timeout, speed and speed units.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of target waypoint.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of target waypoint.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Target reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Syringe0" abbrev="syringe0" type="uint8_t" unit="Enumerated" enum-def="Boolean">
      <description>
        True when sampling with servo 0.
      </description>
    </field>
    <field name="Syringe1" abbrev="syringe1" type="uint8_t" unit="Enumerated" enum-def="Boolean">
      <description>
        True when sampling with servo 1.
      </description>
    </field>
    <field name="Syringe2" abbrev="syringe2" type="uint8_t" unit="Enumerated" enum-def="Boolean">
      <description>
        True when sampling with servo 2.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="490" name="Image Tracking" abbrev="ImageTracking" source="ccu" category="Maneuvering">
    <description>
      A "ImageTracking" is a maneuver specifying a particular heading to the
      detected object.
    </description>
  </message>

  <message id="491" name="Takeoff Maneuver" abbrev="Takeoff" source="ccu" category="Maneuvering">
    <description>
      Automatic takeoff for UAVs.
      This maneuver specifies a target waypoint where to takeoff.

      Takeoff direction is set from the direction the plane is pointing when the auto takeoff command is started.
      It will remain that way until the vehicle reaches the target z reference. After that it will go to the target waypoint.
    </description>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of target waypoint.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of target waypoint.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Target altitude or height for the automatic takeoff.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Pitch Angle" abbrev="takeoff_pitch"  type="fp32_t" unit="rad" min="0" max="1.57079632679490">
      <description>
        Minimum pitch angle during automatic takeoff.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="492" name="Land Maneuver" abbrev="Land" category="Maneuvering">
    <description>
      Automatic landing on the ground, for UAVs.
      This maneuver specifies the target touchdown location and sets the final approach based on the maneuver bearing and glide slope parameters.
    </description>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of touchdown waypoint.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of touchdown waypoint.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Target altitude or height for the automatic landing.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference and abort z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Abort Z Reference" abbrev="abort_z" type="fp32_t" unit="m">
      <description>
        Abort altitude or height. If landing is aborted while executing, the UAV will maintain its course and attempt to climb to the abort z reference.
      </description>
    </field>
    <field name="Bearing" abbrev="bearing" type="fp64_t" unit="rad" min="0" max="6.283185307179586">
      <description>
        Land bearing angle.
      </description>
    </field>
    <field name="Glide Slope" abbrev="glide_slope" type="uint8_t" unit="%" max="10">
      <description>
        Ratio of the distance from the last waypoint to the landing point (touchdown) and the height difference between them.
      </description>
    </field>
    <field name="Glide Slope Altitude" abbrev="glide_slope_alt" type="fp32_t" unit="m">
      <description>
        Height difference between the last waypoint to the landing point (touchdown).
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="493" abbrev="AutonomousSection" name="Autonomous Section" category="Maneuvering">
    <description>
      This maneuver triggers an external controller that will guide the vehicle during a specified duration
      of time or until it relinquishes control using (ManeuverDone). The external controller is allowed to
      drive the vehicle only inside the specified boundaries.
    </description>

    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of the initial location.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of the initial location.
      </description>
    </field>
     <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <!-- limits -->
    <field name="Enforced Limits" abbrev="limits" type="uint8_t" unit="Bitfield" prefix="ENFORCE">
        <value abbrev="DEPTH" name="Maximum Depth Limit" id="0x01"/>
        <value abbrev="ALTITUDE" name="Minimum Altitude Limit" id="0x02"/>
        <value abbrev="TIMEOUT" name="Time Limit" id="0x04"/>
        <value abbrev="AREA2D" name="Polygonal Area Limits" id="0x08"/>
    </field>
    <field name="Maximum depth" abbrev="max_depth" type="fp64_t" unit="m">
      <description>
        Maximum depth the autonomous controller is allowed to drive to.
      </description>
    </field>
    <field name="Minimum altitude" abbrev="min_alt" type="fp64_t" unit="m">
      <description>
        Minimum altitude the autonomous controller is allowed to drive to.
      </description>
    </field>
    <field name="Time Limit" abbrev="time_limit" type="fp64_t" unit="s">
      <description>
        The time after which this maneuver should be stopped (if still active and TIMEOUT is enforced).
      </description>
    </field>
    <field name="Area Limits" abbrev="area_limits" type="message-list" message-type="PolygonVertex">
      <description>
        The boundaries of the admissable area for this autonomous section.
      </description>
    </field>
    <field name="Controller" abbrev="controller" type="plaintext">
      <description>
        The name of the controlling agent that will be allowed to guide the vehicle during the AutononousSection.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="494" name="Follow Point Maneuver" abbrev="FollowPoint" category="Maneuvering">
    <description>This maneuver behaves by following a point.</description>
    <field name="Source To Follow" abbrev="target" type="plaintext">
      <description>
        The identifier of the point source to follow (via RemoteSensorInfo or EstimatedState).
      </description>
    </field>
    <field name="Maximum Speed" abbrev="max_speed" type="fp32_t" unit="m/s" min="0">
      <description>
        Use this speed when travelling from afar.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Indicates the units used for the maximum speed value.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of maneuver in the map. Ignored during execution.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of maneuver in the map. Ignored during execution.
      </description>
    </field>
    <field name="Z" abbrev="z" type="fp32_t" unit="m">
      <description>
        Use z_units to specify whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="495" name="Alignment Maneuver" abbrev="Alignment" source="ccu" category="Maneuvering">
      <description>
      An "Alignment" is a maneuver specifying a movement of the vehicle to a
      target waypoint intended to control activation of an IMU/INS in order
      to start aligning navigation for more precise dead reckoning operation.
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of target waypoint.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of target waypoint.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

<message id="496" name="Station Keeping Extended" abbrev="StationKeepingExtended" source="ccu" category="Maneuvering">
    <description>
      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.
    </description>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Radius" abbrev="radius" type="fp32_t" unit="m">
      <description>Radius.</description>
    </field>
    <field name="Duration" abbrev="duration" type="uint16_t" unit="s">
      <description>Duration (0 for unlimited).</description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        The value of the desired speed, in the scale specified
        by the "Speed Units" field.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" unit="Enumerated" enum-def="SpeedUnits">
      <description>Indicates the units used for the speed value.</description>
    </field>
    <field name="PopUp Period" abbrev="popup_period" type="uint16_t" unit="s">
      <description>
        The period at which the vehicle will popup to report its position.
        Only used if flag KEEP_SAFE is on.
      </description>
    </field>
    <field name="PopUp Duration" abbrev="popup_duration" type="uint16_t" unit="s">
      <description>
        The duration of the station keeping at surface level when it pops up.
        Only used if flag KEEP_SAFE is on.
      </description>
    </field>
    <field name="Flags" abbrev="flags" prefix="FLG" type="uint8_t" unit="Bitfield">
      <description>
        Flags of the maneuver.
      </description>
      <value id="0x01" abbrev="KEEP_SAFE" name="Keep safe behaviour">
        <description>
          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).
        </description>
      </value>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <message id="497" name="Maneuver Done" abbrev="ManeuverDone" source="ccu, vehicle" category="Maneuvering">
    <description>
      Notification of completion of a maneuver (optional use).
    </description>
  </message>

  <message id="499" name="Magnetometer Maneuver" abbrev="Magnetometer" source="ccu" category="Maneuvering">
    <description>
      Magnetometer calibration maneuver (i.e: one square pattern
      in one direction, a second square in the opposite direction)
    </description>
    <field name="Timeout" abbrev="timeout" type="uint16_t" unit="s">
      <description>
        The amount of time the maneuver is allowed to run.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude of target waypoint.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude of target waypoint.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Maneuver reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t">
      <description>
        Maneuver speed reference.
      </description>
    </field>
    <field name="Speed Units" abbrev="speed_units" type="uint8_t" value="0" unit="Enumerated" enum-def="SpeedUnits">
      <description>
        Speed units.
      </description>
    </field>
    <field name="Bearing" abbrev="bearing" type="fp64_t" unit="rad" min="0" max="6.283185307179586">
      <description>
        Rows bearing angle.
      </description>
    </field>
    <field name="Width" abbrev="width" min="50" type="fp32_t" unit="m">
      <description>
        Width of the maneuver.
      </description>
    </field>
    <field name="Direction" abbrev="direction" type="uint8_t" unit="Enumerated" prefix="MD" max="1">
      <description>
        Desired direction.
      </description>
      <value id="0" name="Clockwise First" abbrev="CLOCKW_FIRST"/>
      <value id="1" name="Counter Clockwise First" abbrev="CCLOCKW_FIRST"/>
    </field>
    <field name="Custom settings for maneuver" abbrev="custom" unit="TupleList" type="plaintext">
      <description>
        Custom settings for maneuver.
      </description>
    </field>
  </message>

  <!-- Vehicle Supervision -->
  <message id="500" name="Vehicle State" abbrev="VehicleState" source="vehicle" category="Vehicle Supervision">
    <description>
      This message summarizes the overall state of the vehicle. It can
      contains information regarding:

      - The overall operation mode.
      - Any error conditions.
      - Current maneuver execution.
      - Active control loops.
    </description>
    <field name="Operation Mode" abbrev="op_mode" type="uint8_t" unit="Enumerated" prefix="VS">
      <description>
        The overall operation mode.
      </description>
      <value id="0" name="Service" abbrev="SERVICE">
        <description>
          Ready to service requests.
        </description>
      </value>
      <value id="1" name="Calibration" abbrev="CALIBRATION">
        <description>
          Ongoing vehicle calibration.
        </description>
      </value>
      <value id="2" name="Error" abbrev="ERROR">
        <description>
          Errors are set.
        </description>
      </value>
      <value id="3" name="Maneuver" abbrev="MANEUVER">
        <description>
          A maneuver is executing.
        </description>
      </value>
      <value id="4" name="External Control" abbrev="EXTERNAL">
        <description>
          External control is active.
        </description>
      </value>
      <value id="5" name="Boot" abbrev="BOOT">
        <description>
          Booting system.
        </description>
      </value>
    </field>
    <field name="Errors -- Count" abbrev="error_count" type="uint8_t">
      <description>
        Error count for monitored entitites.
      </description>
    </field>
    <field name="Errors -- Entities" abbrev="error_ents" type="plaintext">
      <description>
        The monitored entities with error conditions. This is a comma
        separated list of entity names.
      </description>
    </field>
    <field name="Maneuver -- Type" abbrev="maneuver_type" type="uint16_t">
      <description>
        Type of maneuver being executed, when in MANEUVER mode. The
        value is the IMC serialization ID of the corresponding
        maneuver.
      </description>
    </field>
    <field name="Maneuver -- Start Time" abbrev="maneuver_stime" type="fp64_t" unit="s">
      <description>
        Start time of maneuver being executed (Epoch time), when in
        MANEUVER mode.
      </description>
    </field>
    <field name="Maneuver -- ETA" abbrev="maneuver_eta" type="uint16_t" unit="s">
      <description>
        Estimated time for maneuver completion. The value will be
        65535 if the time is unknown or undefined.
      </description>
    </field>
    <field name="Control Loops" abbrev="control_loops" type="uint32_t" unit="Bitfield" bitfield-def="CLoopsMask">
      <description>
        Enabled control loops.
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint8_t" prefix="VFLG" unit="Bitfield">
      <value id="0x01" abbrev="MANEUVER_DONE" name="Maneuver Done"/>
    </field>
    <field name="Last Error -- Description" abbrev="last_error" type="plaintext">
      <description>
        Description of last error.
      </description>
    </field>
    <field name="Last Error -- Time" abbrev="last_error_time" type="fp64_t" unit="s">
      <description>
        Time of last error (Epoch time).
      </description>
    </field>
  </message>

  <message id="501" name="Vehicle Command" abbrev="VehicleCommand" source="ccu,vehicle" category="Vehicle Supervision">
    <description>
      Vehicle command.
    </description>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="VC">
      <value id="0" abbrev="REQUEST" name="Request"/>
      <value id="1" abbrev="SUCCESS" name="Reply -- Success"/>
      <value id="2" abbrev="IN_PROGRESS" name="Reply -- In Progress"/>
      <value id="3" abbrev="FAILURE" name="Reply -- Failure"/>
    </field>
    <field name="Request ID" abbrev="request_id" type="uint16_t">
      <description>Request ID</description>
    </field>
    <field name="Command" abbrev="command" type="uint8_t" unit="Enumerated" prefix="VC">
      <description>The type of command/action to be performed</description>
      <value id="0" name="Execute Maneuver" abbrev="EXEC_MANEUVER">
        <description>Execute the maneuver specified in 'maneuver' field.</description>
      </value>
      <value id="1" name="Stop Maneuver" abbrev="STOP_MANEUVER">
        <description>Stop 'maneuver' being executed.</description>
      </value>
      <value id="2" name="Start Calibration" abbrev="START_CALIBRATION">
        <description>Start calibrating vehicle.</description>
      </value>
      <value id="3" name="Stop Calibration" abbrev="STOP_CALIBRATION">
        <description>Stop calibrating vehicle.</description>
      </value>
    </field>
    <field name="Maneuver" abbrev="maneuver" type="message" message-type="Maneuver">
      <description>Maneuver to be executed (for 'EXEC_MANEUVER' command)</description>
    </field>
    <field name="Calibration Time" abbrev="calib_time" type="uint16_t" unit="s">
      <description>Amount of time to calibrate</description>
    </field>
    <field name="Info" abbrev="info" type="plaintext">
      <description>Complementary human-readable information for replies.</description>
    </field>
  </message>

  <message id="502" name="Monitor Entity State" abbrev="MonitorEntityState" source="vehicle" category="Vehicle Supervision">
    <description>Controls monitoring of entity states in the vehicle.</description>
    <field name="Command" abbrev="command" type="uint8_t" unit="Enumerated" prefix="MES">
      <description>Command.</description>
      <value id="0" abbrev="RESET" name="Reset to defaults"/>
      <value id="1" abbrev="ENABLE" name="Enable Monitoring"/>
      <value id="2" abbrev="DISABLE" name="Disable Monitoring"/>
      <value id="3" abbrev="ENABLE_EXCLUSIVE" name="Enable Monitoring (exclusive - disables all others)"/>
      <value id="4" abbrev="STATUS" name="Status Report"/>
    </field>
    <field name="Entity Names" abbrev="entities" type="plaintext">
      <description>Comma separated list of entity names.</description>
    </field>
  </message>

  <message id="503" name="Entity Monitoring State" abbrev="EntityMonitoringState" source="vehicle" category="Vehicle Supervision">
    <field name="Entities monitored - Count" abbrev="mcount" type="uint8_t">
      <description>
        Number of entitities being monitored.
      </description>
    </field>
    <field name="Entities monitored - Names" abbrev="mnames" type="plaintext">
      <description>
        Comma separated list of all entity names being monitored.
      </description>
    </field>
    <field name="Entities with errors - Count" abbrev="ecount" type="uint8_t">
      <description>
        Number of entitities with non-critical errors.
      </description>
    </field>
    <field name="Entities with errors - Names" abbrev="enames" type="plaintext">
      <description>
        Comma separated list of all entity names with non-critical
        errors.
      </description>
    </field>
    <field name="Entities with critical errors - Count" abbrev="ccount" type="uint8_t">
      <description>
        Number of entitities with critical errors.
      </description>
    </field>
    <field name="Entities with critical errors - Names" abbrev="cnames" type="plaintext">
      <description>
        Comma separated list of all entity names with critical errors.
      </description>
    </field>
    <field name="Last Error -- Description" abbrev="last_error" type="plaintext">
      <description>
        Description of last error.
      </description>
    </field>
    <field name="Last Error -- Time" abbrev="last_error_time" type="fp64_t" unit="s">
      <description>
        Time of last error (Epoch time).
      </description>
    </field>
  </message>

  <message id="504" name="Operational Limits" abbrev="OperationalLimits" source="ccu,vehicle" category="Vehicle Supervision">
    <description>
      Definition of operational limits.
    </description>
    <field name="Field Indicator Mask" abbrev="mask" type="uint8_t" unit="Bitfield" bitfield-def="OpLimitsMask"/>
    <field name="Maximum Depth" abbrev="max_depth" type="fp32_t" unit="m" min="0"/>
    <field name="Minimum Altitude" abbrev="min_altitude" type="fp32_t" unit="m" min="0"/>
    <field name="Maximum Altitude" abbrev="max_altitude" type="fp32_t" unit="m" min="0"/>
    <field name="Minimum Speed" abbrev="min_speed" type="fp32_t" unit="m/s" min="0"/>
    <field name="Maximum Speed" abbrev="max_speed" type="fp32_t" unit="m/s" min="0"/>
    <field name="Maximum Vertical Rate" abbrev="max_vrate" type="fp32_t" unit="m/s" min="0"/>
    <field name="Area -- WGS-84 Latitude" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966"/>
    <field name="Area -- WGS-84 Longitude" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793"/>
    <field name="Area -- Orientation" abbrev="orientation" type="fp32_t" unit="rad"/>
    <field name="Area -- Width" abbrev="width" type="fp32_t" unit="m"/>
    <field name="Area -- Length" abbrev="length" type="fp32_t" unit="m"/>
  </message>

  <message id="505" name="Get Operational Limits" abbrev="GetOperationalLimits" source="ccu" category="Vehicle Supervision">
    <description>
      Command to obtain the operational limits in use by the vehicle.
    </description>
  </message>

  <message id="506" name="Calibration" abbrev="Calibration" source="vehicle" category="Vehicle Supervision">
    <description>
      Initiate overall calibration of a vehicle.
    </description>
    <field name="Duration" abbrev="duration" type="uint16_t" unit="s">
      <description>
        Duration of calibration.
      </description>
    </field>
  </message>

  <message id="507" name="Control Loops" abbrev="ControlLoops" source="vehicle" category="Vehicle Supervision">
    <description>
      Enable or disable control loops.
    </description>
    <field name="Enable" abbrev="enable" type="uint8_t" prefix="CL" unit="Enumerated">
      <value id="0" abbrev="DISABLE" name="Disable"/>
      <value id="1" abbrev="ENABLE"  name="Enable"/>
    </field>
    <field name="Control Loop Mask" abbrev="mask" type="uint32_t" unit="Bitfield" bitfield-def="CLoopsMask">
      <description>
        Control loop mask.
      </description>
    </field>
    <field name="Scope Time Reference" abbrev="scope_ref" type="uint32_t">
      <description>
        Unsigned integer reference for the scope of the control loop message.
        Scope reference should only be set by a maneuver.
        Should be set to an always increasing reference at the time of dispatching this message.
        Lower level controllers must inherit the same scope reference sent by maneuver.
        This same scope reference must be sent down to lower control layers.
      </description>
    </field>
  </message>

  <message id="508" name="Vehicle Medium" abbrev="VehicleMedium" source="vehicle" category="Vehicle Supervision">
    <description>
      Detect current vehicle medium.
    </description>
    <field name="Medium" abbrev="medium" type="uint8_t" prefix="VM" unit="Enumerated">
      <description>
        Current medium.
      </description>
      <value id="0" abbrev="GROUND" name="Ground">
        <description>Vehicle is on the ground</description>
      </value>
      <value id="1" abbrev="AIR" name="Air">
        <description>Vehicle is airborne</description>
      </value>
      <value id="2" abbrev="WATER" name="Water">
        <description>Vehicle is at water surface</description>
      </value>
      <value id="3" abbrev="UNDERWATER" name="Underwater">
        <description>Vehicle is underwater</description>
      </value>
      <value id="4" abbrev="UNKNOWN" name="Unknown">
        <description>Vehicle medium is unknown</description>
      </value>
    </field>
  </message>

  <message id="509" name="Collision" abbrev="Collision" source="vehicle" category="Vehicle Supervision">
    <description>
      Detected collision.
    </description>
    <field name="Collision value" abbrev="value" type="fp32_t" unit="m/s/s">
      <description>
        Estimated collision acceleration value.
      </description>
    </field>
    <field name="Type" abbrev="type" type="uint8_t" unit="Bitfield" prefix="CD">
      <description>
        Collision flags.
      </description>
      <value id="0x01" abbrev="X" name="X-axis">
        <description>Collision detected in the x-axis</description>
      </value>
      <value id="0x02" abbrev="Y" name="Y-axis">
        <description>Collision detected in the y-axis</description>
      </value>
      <value id="0x04" abbrev="Z" name="Z-axis">
        <description>Collision detected in the z-axis</description>
      </value>
      <value id="0x08" abbrev="IMPACT" name="Impact">
        <description>Sudden impact detected</description>
      </value>
    </field>
  </message>

  <message id="510" name="Formation Tracking State" abbrev="FormState" source="vehicle" category="Vehicle Supervision">
    <description>
      Monitoring variables to assert the formation tracking state, i.e., the mismatch between the real and the simulated aircraft position, the convergence state, etc.
    </description>
    <field name="Position Mismatch" abbrev="PosSimErr" type="fp32_t" unit="m">
      <description>
        Mismatch between the real and the simulated aircraft position.
      </description>
    </field>
    <field name="Convergence" abbrev="Converg" type="fp32_t" unit="m">
      <description>
        Convergence evalution variable.
        Value indicates the position error to which the system is converging, tacking into account the aircraft current position error and velocity.
      </description>
    </field>
    <field name="Stream Turbulence" abbrev="Turbulence" type="fp32_t" unit="m/s/s">
      <description>
        Evaluation of the stream turbulence level, through the stream acceleration.
      </description>
    </field>
    <field name="Position Mismatch Monitor" abbrev="PosSimMon" type="uint8_t" unit="Enumerated" prefix="POS">
      <description>
        Position mismatch monitoring flag.
      </description>
      <value id="0" name="Ok" abbrev="OK"/>
      <value id="1" name="Warning threshold" abbrev="WRN"/>
      <value id="2" name="Limit threshold" abbrev="LIM"/>
    </field>
    <field name="Communications Monitor" abbrev="CommMon" type="uint8_t" unit="Enumerated" prefix="COMMS">
      <description>
        Communications monitoring flag.
      </description>
      <value id="0" name="Ok" abbrev="OK"/>
      <value id="1" name="Timeout" abbrev="TIMEOUT"/>
    </field>
    <field name="Convergence" abbrev="ConvergMon" type="uint8_t" unit="Enumerated" prefix="CONV">
      <description>
        Convergence monitoring flag.
      </description>
      <value id="0" name="Ok" abbrev="OK"/>
      <value id="1" name="Timeout" abbrev="TIMEOUT"/>
    </field>
  </message>

  <message id="511" name="Autopilot Mode" abbrev="AutopilotMode" source="vehicle" category="Vehicle Supervision">
    <description>
      Reports autopilot mode.
    </description>
    <field name="Autonomy Level" abbrev="autonomy" type="uint8_t" prefix="AL" unit="Enumerated">
      <description>
        Current mode autonomy level.
      </description>
      <value id="0" abbrev="MANUAL" name="Manual">
        <description>Autopilot has no control</description>
      </value>
      <value id="1" abbrev="ASSISTED" name="Assisted">
        <description>Autopilot has some control</description>
      </value>
      <value id="2" abbrev="AUTO" name="Auto">
        <description>Autopilot has full control</description>
      </value>
    </field>
    <field name="Mode" abbrev="mode" type="plaintext">
      <description>
        Current mode name.
      </description>
    </field>
  </message>

  <message id="512" name="Formation Tracking State" abbrev="FormationState" source="vehicle" category="Vehicle Supervision">
    <description>
      Monitoring variables to assert the formation tracking state, i.e., the mismatch between the real and the simulated aircraft position, the convergence state, etc.
    </description>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="FC">
      <description>
        Indicates if the message is a request, or a reply to a previous request.
      </description>
      <value id="0" name="Request" abbrev="REQUEST"/>
      <value id="1" name="Report" abbrev="REPORT"/>
    </field>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Operation to perform.
      </description>
      <value id="0" name="Start" abbrev="START">
        <description>
          Start the formation maneuver.
        </description>
      </value>
      <value id="1" name="Stop" abbrev="STOP">
        <description>
          Stop the formation maneuver.
        </description>
      </value>
    </field>
    <field name="Position Mismatch" abbrev="PosSimErr" type="fp32_t" unit="m">
      <description>
        Mismatch between the real and the simulated aircraft position.
      </description>
    </field>
    <field name="Convergence" abbrev="Converg" type="fp32_t" unit="m">
      <description>
        Convergence evalution variable.
        Value indicates the position error to which the system is converging, tacking into account the aircraft current position error and velocity.
      </description>
    </field>
    <field name="Stream Turbulence" abbrev="Turbulence" type="fp32_t" unit="m/s/s">
      <description>
        Evaluation of the stream turbulence level, through the stream acceleration.
      </description>
    </field>
    <field name="Position Mismatch Monitor" abbrev="PosSimMon" type="uint8_t" unit="Enumerated" prefix="POS">
      <description>
        Position mismatch monitoring flag.
      </description>
      <value id="0" name="Ok" abbrev="OK"/>
      <value id="1" name="Warning threshold" abbrev="WRN"/>
      <value id="2" name="Limit threshold" abbrev="LIM"/>
    </field>
    <field name="Communications Monitor" abbrev="CommMon" type="uint8_t" unit="Enumerated" prefix="COMMS">
      <description>
        Communications monitoring flag.
      </description>
      <value id="0" name="Ok" abbrev="OK"/>
      <value id="1" name="Timeout" abbrev="TIMEOUT"/>
    </field>
    <field name="Convergence" abbrev="ConvergMon" type="uint8_t" unit="Enumerated" prefix="CONV">
      <description>
        Convergence monitoring flag.
      </description>
      <value id="0" name="Ok" abbrev="OK"/>
      <value id="1" name="Timeout" abbrev="TIMEOUT"/>
    </field>
  </message>

  <message id="513" name="Report Control" abbrev="ReportControl" source="ccu,vehicle" category="Vehicle Supervision">
    <description>
      This message is sent to trigger reports to a destination system.
    </description>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Operation to perform.
      </description>
      <value id="0" name="Request Start of Reports" abbrev="REQUEST_START">
        <description>
          Request a system to periodically send reports through 'interface'.
          The destination system will reply with a STARTED command. Periodicity
          will be defined by the field 'period'. If applicable, the destination
          address is defined in field 'dst'.
        </description>
      </value>
      <value id="1" name="Report Started" abbrev="STARTED">
        <description>
          The destination system will reply a message with this operation
          everytime a report is successfully started. The periodicity of
          reports is indicated in the field 'period' while the communication
          interface to be used is described in field 'interface'. If applicable,
          the destination address is defined in field 'dst'.
        </description>
      </value>
      <value id="2" name="Request Stop of Reports" abbrev="REQUEST_STOP">
        <description>
          Request a system to stop dispatching reports through a given
          communication interface described in 'interface'. The destination
          system will reply with a STOPPED command. If applicable, the
          destination address is defined in field 'dst'.
        </description>
      </value>
      <value id="3" name="Report Stopped" abbrev="STOPPED">
        <description>
          The destination system will reply a message with this operation
          everytime a scheduled report is successfully stopped in a defined
          communication interface. If applicable, the destination address
          is defined in field 'dst'.
        </description>
      </value>
      <value id="4" name="Request Single Reports" abbrev="REQUEST_REPORT">
        <description>
          Request a system to issue a single report in a defined communication
          interface. The destination system will reply with a REPORT_ISSUED command.
          If applicable, the destination address is defined in field 'dst'.
        </description>
      </value>
      <value id="5" name="Single Report Sent" abbrev="REPORT_SENT">
        <description>
          The destination system will reply a single report request with
          this operation.If applicable, the destination address is defined
          in field 'dst'.
        </description>
      </value>
    </field>
    <field name="Communication Interface" abbrev="comm_interface" type="uint8_t" unit="Bitfield" prefix="CI">
      <description>
        Communication interface to be used for reports.
      </description>
      <value id="0x01" name="Acoustic" abbrev="ACOUSTIC">
        <description>Use acoustic communications</description>
      </value>
      <value id="0x02" name="Satellite" abbrev="SATELLITE">
        <description>Use satellite communications</description>
      </value>
      <value id="0x04" name="GSM" abbrev="GSM">
        <description>Use Global System for Mobile Communications</description>
      </value>
      <value id="0x08" name="Mobile" abbrev="MOBILE">
        <description>Use mobile networks</description>
      </value>
      <value id="0x10" name="Radio" abbrev="RADIO">
        <description>Use Radio telemetry</description>
      </value>
    </field>
    <field name="Period" abbrev="period" type="uint16_t" unit="s">
      <description>
        Desired periodicity for scheduled reports.
      </description>
    </field>
    <field name="Destination System" abbrev="sys_dst" type="plaintext">
      <description>
        Destination Address to be filled where applicable. It should be
        interpreted differently depending on communication interface.
      </description>
    </field>
  </message>

  <message id="514" name="State Report" abbrev="StateReport" category="Vehicle Supervision">
  	<description>
  	  Concise representation of entire system state.
  	</description>
  	<field name="Time Stamp" abbrev="stime" type="uint32_t" unit="s">
  	  <description>Time, in seconds, since January 1st 1970.</description>
  	</field>
	<field name="Latitude" abbrev="latitude" type="fp32_t" unit="°">
	  <description>Latitude of the system, in degrees.</description>
	</field>
	<field name="Longitude" abbrev="longitude" type="fp32_t" unit="°">
	  <description>Longitude of the system, in degrees.</description>
	</field>
	<field name="Altitude" abbrev="altitude" type="uint16_t" unit="dm">
	  <description>Altitude of the system, in decimeters.
      * *0xFFFF* used for unknown / not applicable value.
	  </description>
	  <value abbrev="ALT_UNKNOWN" name="Unknown Altitude" id="0xFFFF"/>
	</field>
	<field name="Depth" abbrev="depth" type="uint16_t" unit="dm">
	  <description>Depth of the system, in decimeters.
      * *0xFFFF* used for unknown / not applicable value.
	  </description>
	  <value abbrev="DEP_UNKNOWN" name="Unknown Depth" id="0xFFFF"/>
	</field>
	<field name="Heading" abbrev="heading" type="uint16_t">
	  <description>Calculated as `(rads * (0xFFFF / (2 * PI))`</description>
	</field>
	<field name="Speed" abbrev="speed" type="int16_t" unit="cm/s">
	  <description>Speed of the system in centimeters per second.</description>
	</field>
	<field name="Fuel" abbrev="fuel" type="int8_t" unit="%">
	  <description>System fuel gauge.
      * *-1* means unknown fuel level.
      </description>
      <value abbrev="FUEL_UNKNOWN" name="Unknown Fuel Level" id="-1"/>
    </field>
    <field name="Execution State" abbrev="exec_state" type="int8_t" unit="%">
      <description>Progress of execution or idle state.
      * *-1* means Service mode
      * *-2* means Boot mode
      * *-3* means Calibration mode
      * *-4* means Error mode
      </description>
      <value abbrev="STATE_SERVICE" name="Service Mode" id="-1"/>
      <value abbrev="STATE_BOOT" name="Boot Mode" id="-2"/>
      <value abbrev="STATE_CALIBRATION" name="Calibration Mode" id="-3"/>
      <value abbrev="STATE_ERROR" name="Error Mode" id="-4"/>
    </field>
    <field name="Plan Checksum" abbrev="plan_checksum" type="uint16_t">
      <description>Checksum of the plan being executed.</description>
    </field>
  </message>

  <message id="515" name="Transmission Request" abbrev="TransmissionRequest" category="Networking">
    <description>
      Request data to be sent over a specified communication mean.
    </description>
    <field name="Request Identifier" abbrev="req_id" type="uint16_t">
      <description>
        The unique identifier for this request.
      </description>
    </field>
    <field name="Communication Mean" abbrev="comm_mean" type="uint8_t" unit="Enumerated" prefix="CMEAN">
      <description>
		Communication mean to be used to transfer these data.
      </description>
      <value id="0" abbrev="WIFI" name="WiFi"/>
      <value id="1" abbrev="ACOUSTIC" name="Acoustic"/>
      <value id="2" abbrev="SATELLITE" name="Satellite"/>
      <value id="3" abbrev="GSM" name="GSM"/>
      <value id="4" abbrev="ANY" name="Any"/>
      <value id="5" abbrev="ALL" name="All"/>
    </field>
    <field name="Destination System" abbrev="destination" type="plaintext">
	  <description>
        The name of the system where to send this message.
      </description>
    </field>
    <field name="Deadline" abbrev="deadline" type="fp64_t">
      <description>
        Deadline for message transmission (seconds since epoch).
      </description>
    </field>
    <field name="Range" abbrev="range" type="fp32_t" unit="m">
      <description>
        The meaning of this field depends on the operation and is
        explained in the operation's description.
      </description>
    </field>
    <field name="Data Mode" abbrev="data_mode" type="uint8_t" unit="Enumerated" prefix="DMODE">
      <description>
    	Type of data to be transmitted.
    	Abort and Range mode can only be used with comm_mean=ACOUSTIC
      </description>
      <value id="0" abbrev="INLINEMSG" name="Inline Message"/>
      <value id="1" abbrev="TEXT" name="Text"/>
      <value id="2" abbrev="RAW" name="Raw Data"/>
      <value id="3" abbrev="ABORT" name="Abort"/>
      <value id="4" abbrev="RANGE" name="Range"/>
      <value id="5" abbrev="REVERSE_RANGE" name="Reverse Range"/>
    </field>
    <field name="Message Data" abbrev="msg_data" type="message">
      <description>
      	Data to be transmitted if selected *data_mode* is *INLINEMSG*.
      </description>
    </field>
    <field name="Text Data" abbrev="txt_data" type="plaintext">
      <description>
      	Data to be transmitted if selected *data_mode* is *TEXT*.
      </description>
    </field>
    <field name="Raw Data" abbrev="raw_data" type="rawdata">
      <description>
      	Data to be transmitted if selected *data_mode* is *RAW*.
      </description>
    </field>
  </message>

  <message id="516" name="Transmission Status" abbrev="TransmissionStatus" category="Networking">
    <description>
      Reply sent in response to a communications request.
    </description>
    <field name="Request Identifier" abbrev="req_id" type="uint16_t"/>
    <field name="Status" abbrev="status" type="uint8_t" unit="Enumerated" prefix="TSTAT">
      <value id="0" abbrev="IN_PROGRESS" name="In progress"/>
      <value id="1" abbrev="SENT" name="Sent"/>
      <value id="51" abbrev="DELIVERED" name="Delivered"/>
      <value id="52" abbrev="MAYBE_DELIVERED" name="Delivery is unknown"/>
      <value id="60" abbrev="RANGE_RECEIVED" name="Range received"/>
      <value id="101" abbrev="INPUT_FAILURE" name="Input Error"/>
      <value id="102" abbrev="TEMPORARY_FAILURE" name="Temporary Error"/>
      <value id="103" abbrev="PERMANENT_FAILURE" name="Permanent Failure"/>
    </field>
    <field name="Range" abbrev="range" type="fp32_t" unit="m">
      <description>
	        The meaning of this field depends on the operation and is
	        explained in the operation's description.
	      </description>
    </field>
    <field name="Information" abbrev="info" type="plaintext"/>
  </message>

    <message id="517" name="SMS Transmission Request" abbrev="SmsRequest" category="Networking">
    <description>
      Request SMS Text sending.
    </description>
    <field name="Request Identifier" abbrev="req_id" type="uint16_t">
    </field>
    <field name="Destination" abbrev="destination" type="plaintext">
      <description>
        Recipient identifier (number or name).
      </description>
    </field>
    <field name="Timeout" abbrev="timeout" type="fp64_t" unit="s">
    <description> Period of time to send message (in seconds). </description>
    </field>
    <field name="SMS Text" abbrev="sms_text" type="plaintext">
    </field>
  </message>

    <message id="518" name="SMS Transmission Status" abbrev="SmsStatus" category="Networking">
    <description>
      Reply sent in response to a SMS sending request.
    </description>
    <field name="Request Identifier" abbrev="req_id" type="uint16_t"/>
    <field name="Status" abbrev="status" type="uint8_t" unit="Enumerated" prefix="SMSSTAT">
      <value id="0" abbrev="QUEUED" name="Queued"/>
      <value id="1" abbrev="SENT" name="Sent"/>
      <value id="101" abbrev="INPUT_FAILURE" name="Input Error"/>
      <value id="102" abbrev="ERROR" name="Error trying to send sms"/>
    </field>
    <field name="Information" abbrev="info" type="plaintext">
      <description> Error description.</description>
    </field>
  </message>
  
  <message id="519" name="VTOL State" abbrev="VtolState" category="Vehicle Supervision">
  <description>
    Reports VTOL current state.
  </description>
  <field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="VTOL_STATE">
    <value id="0" name="Undefined" abbrev="UNDEFINED">
      <description>Vehicle is not configured as VTOL.</description>
    </value>
    <value id="1" name="Transition to Fixed-Wing" abbrev="TRANSITION_TO_FW">
      <description>Vehicle is in transition from multicopter to fixed-wing.</description>
    </value>
    <value id="2" name="Transition to MultiCopter" abbrev="TRANSITION_TO_MC">
      <description>Vehicle is in transition from fixed-wing to multicopter.</description>
    </value>
    <value id="3" name="MutiCopter" abbrev="MC">
      <description>Vehicle is in multicopter state.</description>
    </value>
    <value id="4" name="Fixed-Wing" abbrev="FW">
      <description>Vehicle is in fixed-wing state.</description>
    </value>
  </field>
  </message>
  
  <message id="520" name="Arming State" abbrev="ArmingState" category="Vehicle Supervision">
  <description>
    Reports if motors are currently armed or disarmed.
  </description>
  <field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="MOTORS">
    <value id="0" name="Armed" abbrev="ARMED"/>
    <value id="1" name="Disarmed" abbrev="DISARMED"/>
  </field>
  </message>
  
   <message id="521" name="TCP Transmission Request" abbrev="TCPRequest" category="Networking">
    <description>
      Request data to be sent over a TCP connection
    </description>
    <field name="Request Identifier" abbrev="req_id" type="uint16_t">
    </field>
    <field name="Destination" abbrev="destination" type="plaintext">
      <description>
        Recipient identifier (number or name).
      </description>
    </field>
    <field name="Timeout" abbrev="timeout" type="fp64_t" unit="s">
      <description> Period of time to send message (in seconds). </description>
    </field>
    <field name="Message Data" abbrev="msg_data" type="message">
      <description>
        IMC message to be transmitted .
      </description>
    </field>
  </message>

  <message id="522" name="TCP Transmission Status" abbrev="TCPStatus" category="Networking">
    <description>
      Reply sent in response to a TCP sending request.
    </description>
    <field name="Request Identifier" abbrev="req_id" type="uint16_t">
    </field>
    <field name="Status" abbrev="status" type="uint8_t" unit="Enumerated" prefix="TCPSTAT">
      <value id="0" abbrev="QUEUED" name="Queued"/>
      <value id="1" abbrev="SENT" name="Sent"/>
      <value id="100" abbrev="INPUT_FAILURE" name="Input Error"/>
      <value id="101" abbrev="HOST_UNKNOWN" name="Host Unknown"/>
      <value id="102" abbrev="CANT_CONNECT" name="Can't Connect"/>
      <value id="103" abbrev="ERROR" name="Error trying to send sms"/>
    </field>
    <field name="Information" abbrev="info" type="plaintext">
      <description> Error description.</description>
    </field>
  </message>

  <message id="525" name="Asset Report " abbrev="AssetReport" source="ccu,vehicle" category="Vehicle Supervision">
    <description>
      This message is represents an Asset position / status.
    </description>
    <field name="Asset Name" abbrev="name" type="plaintext">
      <description>
        The human readable name of the asset.
      </description>
    </field>
    <field name="Report Timestamp" abbrev="report_time" type="fp64_t" unit="s">
      <description>
        Time in seconds since epoch, for the generation instant.
      </description>
    </field>
    <field name="Medium" abbrev="medium" type="uint8_t" unit="Enumerated" prefix="RM">
      <value id="1" name="WiFi" abbrev="WIFI"/>
      <value id="2" name="Satellite" abbrev="SATELLITE"/>
      <value id="3" name="Acoustic" abbrev="ACOUSTIC"/>
      <value id="4" name="SMS" abbrev="SMS"/>
    </field>
    <field name="Latitude" abbrev="lat" type="fp64_t" unit="rad" />
    <field name="Longitude" abbrev="lon" type="fp64_t" unit="rad" />
    <field name="Depth" abbrev="depth" type="fp32_t" unit="m" />
    <field name="Altitude" abbrev="alt" type="fp32_t" unit="m" />
    <field name="Speed Over Ground" abbrev="sog" type="fp32_t" unit="m/s" />
    <field name="Course Over Ground" abbrev="cog" type="fp32_t" unit="rad" />
    <field name="Additional Info" abbrev="msgs" type="message-list" />
  </message>

  <!-- Plan Supervision -->
  <message id="550" name="Abort" abbrev="Abort" source="ccu" category="Plan Supervision">
    <description>
      Stops any executing actions and put the system in a standby mode.
    </description>
  </message>

  <message id="551" name="Plan Specification" abbrev="PlanSpecification" source="ccu,vehicle" category="Plan Supervision">
    <description>
      Identity and description of a plan's general parameters,
      associated with plan loading (i.e. load plan command in
      *PlanCommand*).

      A plan specification is defined by a plan identifier, a set of
      maneuver specifications and a start maneuver from that set.

      See the :ref:`PlanManeuver` message for details on maneuver
      specification.
    </description>
    <field name="Plan ID" abbrev="plan_id" type="plaintext">
      <description>
        The plan's identifier.
      </description>
    </field>
    <field name="Plan Description" abbrev="description" type="plaintext">
      <description>
        Verbose text description of plan.
      </description>
    </field>
    <field name="Namespace" abbrev="vnamespace" type="plaintext">
      <description>
        Namespace for plan variables.
      </description>
    </field>
    <field name="Plan Variables" abbrev="variables" type="message-list" message-type="PlanVariable">
      <description>
        Plan variables.
      </description>
    </field>
    <field name="Starting maneuver" abbrev="start_man_id" type="plaintext">
      <description>
        Indicates the id of the starting maneuver for this plan.
      </description>
    </field>
    <field name="Maneuvers" abbrev="maneuvers" type="message-list" message-type="PlanManeuver">
      <description>
        List of maneuver specifications.
      </description>
    </field>
    <field name="Transitions" abbrev="transitions" type="message-list" message-type="PlanTransition">
      <description>
        List of maneuver specifications.
      </description>
    </field>
    <field name="Start Actions" abbrev="start_actions" type="message-list">
      <description>
        Contains an optionally defined 'MessageList' for actions fired
        on plan activation.
      </description>
    </field>
    <field name="End Actions" abbrev="end_actions" type="message-list">
      <description>
        Contains an optionally defined 'MessageList' for actions fired
        on plan termination.
      </description>
    </field>
  </message>

  <message id="552" name="Plan Maneuver" abbrev="PlanManeuver" source="ccu" category="Plan Supervision">
    <description>
      Named plan maneuver.
    </description>
    <field name="Maneuver ID" abbrev="maneuver_id" type="plaintext">
      <description>
        The maneuver ID.
      </description>
    </field>
    <field name="Maneuver Specification" abbrev="data" type="message" message-type="Maneuver">
      <description>
        The maneuver specification.
      </description>
    </field>
    <field name="Start Actions" abbrev="start_actions" type="message-list">
      <description>
        Contains an optionally defined 'MessageList' for actions fired
        on plan activation.
      </description>
    </field>
    <field name="End Actions" abbrev="end_actions" type="message-list">
      <description>
        Contains an optionally defined 'MessageList' for actions fired
        on plan termination.
      </description>
    </field>
  </message>

  <message id="553" name="Plan Transition" abbrev="PlanTransition" source="ccu" category="Plan Supervision">
    <description>
      Describes a plan transition within a plan specification. A
      transition states the vehicle conditions that must be met to
      signal the transition, the maneuver that should be started as a
      result, and an optional set of actions triggered by the
      transition.
    </description>
    <field name="Source" abbrev="source_man" type="plaintext">
      <description>
        Comma separated list of maneuver IDs, or the special value '.'
        to identify a global plan transition.
      </description>
    </field>
    <field name="Destination Maneuver Name" abbrev="dest_man" type="plaintext">
      <description>
        Target maneuver name.
        If it equals the special value '_done_' then plan should
        terminate with a success status.
        If it equals the special value '_error_' then the plan should
        terminate with an error status.
      </description>
    </field>
    <field name="Transition conditions" abbrev="conditions" type="plaintext">
      <description>
        Comma separated list of conditions for transition. Each
        condition identifier corresponds to a known predicate which is
        interpreted and tested internally by the vehicle.
      </description>
    </field>
    <field name="Transition actions" abbrev="actions" type="message-list">
      <description>
        Messages processed when the transition is triggered.
      </description>
    </field>
  </message>

  <message id="554" name="Emergency Control" abbrev="EmergencyControl" source="ccu" category="Plan Supervision">
    <field name="Command" abbrev="command" type="uint8_t" prefix="ECTL" unit="Enumerated">
      <value id="0" name="Enable" abbrev="ENABLE"/>
      <value id="1" name="Disable" abbrev="DISABLE"/>
      <value id="2" name="Start" abbrev="START"/>
      <value id="3" name="Stop" abbrev="STOP"/>
      <value id="4" name="Query" abbrev="QUERY"/>
      <value id="5" name="Set Plan" abbrev="SET_PLAN"/>
    </field>
    <field name="Plan Specification" abbrev="plan" type="message" message-type="PlanSpecification"/>
  </message>

  <message id="555" name="Emergency Control State" abbrev="EmergencyControlState" source="vehicle" category="Plan Supervision">
    <field name="State" abbrev="state" type="uint8_t" prefix="ECS" unit="Enumerated">
      <value id="0" name="Not Configured" abbrev="NOT_CONFIGURED"/>
      <value id="1" name="Disabled" abbrev="DISABLED"/>
      <value id="2" name="Enabled" abbrev="ENABLED"/>
      <value id="3" name="Armed" abbrev="ARMED"/>
      <value id="4" name="Active" abbrev="ACTIVE"/>
      <value id="5" name="Stopping" abbrev="STOPPING"/>
    </field>
    <field name="Plan Id" abbrev="plan_id" type="plaintext"/>
    <field name="Communications Level" abbrev="comm_level" type="uint8_t" unit="%" max="100"/>
  </message>

  <message id="556" name="Plan DB" abbrev="PlanDB" category="Plan Supervision">
    <description>
      Request/reply to plan database.
    </description>
    <field name="Type" abbrev="type" unit="Enumerated" type="uint8_t" prefix="DBT">
      <description>
        Indicates if the message is a request, or a reply to a
        previous request.
      </description>
      <value id="0" name="Request" abbrev="REQUEST"/>
      <value id="1" name="Reply -- Success" abbrev="SUCCESS"/>
      <value id="2" name="Reply -- Failure" abbrev="FAILURE"/>
      <value id="3" name="Reply -- In Progress" abbrev="IN_PROGRESS"/>
    </field>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="DBOP">
      <description>
        Indicates the operation affecting the DB.

        The operation may relate to a single plan or the entire plan DB.
        For each request,  a plan DB may reply with any number of 'in progress'
        replies followed by a success or a failure reply.

        The 'op', 'request_id' and 'plan_id' fields of a request will be echoed
        in one or more responses to that request.
        The operation at stake also determines a certain type of the 'arg' field,
        and whether or not the 'plan_id' field needs to be set.
      </description>
      <value id="0" name="Set Plan" abbrev="SET">
        <description>
          Set a plan in the DB. The 'plan_id' field identifies the
          plan, and a pre-existing plan with the same identifier, if
          any will be overwritten. For requests, the 'arg' field must
          contain a 'PlanSpecification' message.
        </description>
      </value>
      <value id="1" name="Delete Plan" abbrev="DEL">
        <description>
          Delete a plan from the DB. The 'plan_id' field identifies
          the plan to delete.
        </description>
      </value>
      <value id="2" name="Get Plan" abbrev="GET">
        <description>
          Get a plan stored in the DB.The 'plan_id' field identifies
          the plan. Successful replies will yield a
          'PlanSpecification' message in the 'arg' field.
        </description>
      </value>
      <value id="3" name="Get Plan Info" abbrev="GET_INFO">
        <description>
          Get DB state for a stored plan. The 'plan_id' field
          identifies the plan. Successful replies will yield a
          'PlanDBInformation' message in the 'arg' field.
        </description>
      </value>
      <value id="4" name="Clear Database" abbrev="CLEAR">
        <description>
          Clear the entire DB.
        </description>
      </value>
      <value id="5" name="Get Database State (Simple)" abbrev="GET_STATE">
        <description>
          Get state of the entire DB. Successful replies will yield a
          'PlanDBState' message in the 'arg' field but without
          individual plan information (in the 'plans_info' field of
          'PlanDBState').
        </description>
      </value>
      <value id="6" name="Get Database State (Detailed)"  abbrev="GET_DSTATE">
        <description>
          Get detailed state of the entire DB. Successful replies
          will yield a 'PlanDBState' message in the 'arg' field with
          individual plan information (in the 'plans_info' field of
          'PlanDBState').
        </description>
      </value>
      <value id="7" name="Boot Notification" abbrev="BOOT">
        <description>
          PlanDB replies of this type are sent automatically during
          bootstrap.
        </description>
      </value>
    </field>
    <field name="Request ID" abbrev="request_id" type="uint16_t">
      <description>
        Request ID. This may be used by interfacing modules,
        e.g. using sequence counters, to annotate requests and
        appropriately identify replies
      </description>
    </field>
    <field name="Plan ID" abbrev="plan_id" type="plaintext">
      <description>
        Plan identifier for the operation, if one is required.
      </description>
    </field>
    <field name="Argument" abbrev="arg" type="message">
      <description>
        Request or reply argument.
      </description>
    </field>
    <field name="Complementary Information" abbrev="info" type="plaintext">
      <description>
        Human-readable complementary information. For example this
        may be used to detail reasons for failure, or to report
        in-progress information.
      </description>
    </field>
  </message>

  <message id="557" name="Plan DB State" abbrev="PlanDBState" category="Plan Supervision">
    <description>
      Characterizes the state of the entire plan database.
    </description>
    <field name="Plan -- Count" abbrev="plan_count" type="uint16_t">
      <description>
        Number of stored plans.
      </description>
    </field>
    <field name="Plan -- Size of all plans" abbrev="plan_size" type="uint32_t">
      <description>
        Size of all plans.The value equals the sum of the IMC payload
        sizes for 'PlanSpecification' stored in the DB.
      </description>
    </field>
    <field name="Last Change -- Time" abbrev="change_time" type="fp64_t" unit="s">
      <description>
        Time of last change (Epoch time).
      </description>
    </field>
    <field name="Last Change -- Source Address" abbrev="change_sid" type="uint16_t">
      <description>
        IMC address for source of last DB change.
      </description>
    </field>
    <field name="Last Change -- Source Name" abbrev="change_sname" type="plaintext">
      <description>
        IMC node name for source of last DB change.
      </description>
    </field>
    <field name="MD5" abbrev="md5" type="rawdata">
      <description>
        MD5 database verification code. The MD5 hash sum is computed
        over the stream formed by the MD5 of all plans, ordered by
        plan id, in compliance with RFC 1321.
      </description>
    </field>
    <field name="Plan info" abbrev="plans_info" type="message-list" message-type="PlanDBInformation">
      <description>
        Individual information for plans.
      </description>
    </field>
  </message>

  <message id="558" name="Plan DB Information" abbrev="PlanDBInformation" category="Plan Supervision">
    <field name="Plan ID" abbrev="plan_id" type="plaintext">
      <description>
        Plan identifier.
      </description>
    </field>
    <field name="Plan Size" abbrev="plan_size" type="uint16_t">
      <description>
        Plan size. The value equals the IMC message payload of the
        associated 'PlanSpecification' message in bytes.
      </description>
    </field>
    <field name="Last Changed -- Time" abbrev="change_time" type="fp64_t">
      <description>
        Time of last change to the plan (Epoch time).
      </description>
    </field>
    <field name="Last Change -- Source Address" abbrev="change_sid" type="uint16_t">
      <description>
        IMC address for source of last change to the plan.
      </description>
    </field>
    <field name="Last Change -- Source Name" abbrev="change_sname" type="plaintext">
      <description>
        IMC node name for source of last change to the plan.
      </description>
    </field>
    <field name="MD5" abbrev="md5" type="rawdata">
      <description>
        MD5 plan verification code. The value is calculated over the
        message payload of the 'PlanSpecification', in compliance with
        RFC 1321.
      </description>
    </field>
  </message>

  <message id="559" name="Plan Control" abbrev="PlanControl" source="ccu,vehicle" category="Plan Supervision">
    <description>
      Plan control request/reply.
    </description>
    <field name="Type" abbrev="type" unit="Enumerated" type="uint8_t" prefix="PC">
      <description>
        Indicates if the message is a request or a reply to a
        previous request. The *op*, *request_id* and *plan_id* fields
        of a request will be echoed in one or more responses to that
        request.
      </description>
      <value id="0" name="Request" abbrev="REQUEST"/>
      <value id="1" name="Reply -- Success" abbrev="SUCCESS"/>
      <value id="2" name="Reply -- Failure" abbrev="FAILURE"/>
      <value id="3" name="Reply -- In Progress" abbrev="IN_PROGRESS"/>
    </field>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="PC">
      <description>
        Plan control operation.
      </description>
      <value id="0" abbrev="START" name="Start Plan">
        <description>
          Start plan identified by *plan_id* field.  The command will
          try to load the corresponding plan if none is loaded, and in
          that case will follow the same discipline as the *LOAD*
          command.

          If the message in *arg* is a :ref:`Maneuver`, a single-maneuver plan
          will be generated and executed.

          This will override any current plan being executed.
        </description>
      </value>
      <value id="1" abbrev="STOP" name="Stop Plan">
        <description>
          Stop current plan being executed if any.
        </description>
      </value>
      <value id="2" abbrev="LOAD" name="Load Plan">
        <description>
          Load Plan. If a :ref:`PlanSpecification` is given with the
          request in the *data* field, then that plan is used and
          stored in the Plan DB. Otherwise, the plan is loaded from
          the Plan DB.
        </description>
      </value>
      <value id="3" abbrev="GET" name="Get Plan">
        <description>
          Get loaded plan. For a successful reply, the *data* field
          will contain the :ref:`PlanSpecification` message that
          corresponds to the currently loaded plan.
        </description>
      </value>
    </field>
    <field name="Request ID" abbrev="request_id" type="uint16_t">
      <description>
        Request ID. This may be used by interfacing modules e.g. using
        sequence counters.  to annotate requests and appropriately
        identify replies.
      </description>
    </field>
    <field name="Plan Identifier" abbrev="plan_id" type="plaintext">
      <description>
        The identifier for the plan to be stopped / started / loaded /
        retrieved according to the command requested (*op* field).
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint16_t" prefix="FLG" unit="Bitfield">
      <!-- Request flags -->
      <value id="0x0001" name="Calibrate Vehicle" abbrev="CALIBRATE">
        <description>
          Perform vehicle calibration.
        </description>
      </value>
      <value id="0x0002" name="Ignore Errors" abbrev="IGNORE_ERRORS">
        <description>
          Execute current plan while ignoring some errors that might be active.
        </description>
      </value>
      <!-- Response flags -->
    </field>
    <field name="Request/Reply Argument" abbrev="arg" type="message">
      <description>
        Complementary message argument for requests/replies.
      </description>
    </field>
    <field name="Complementary Info" abbrev="info" type="plaintext">
      <description>
        Complementary human-readable information. This is used
        in association to replies.
      </description>
    </field>
  </message>

  <message id="560" name="Plan Control State" flags="periodic" abbrev="PlanControlState" source="vehicle" category="Plan Supervision">
    <description>
      State of plan control.
    </description>
    <field name="State" abbrev="state" type="uint8_t" prefix="PCS" unit="Enumerated">
      <description>
        Describes overall state.
      </description>
      <value id="0" name="Blocked" abbrev="BLOCKED">
        <description>
          Plan execution is blocked e.g., due to a vehicle error,
          or if no plan is loaded.
        </description>
      </value>
      <value id="1" name="Ready" abbrev="READY">
        <description>
          Ready to start plan execution.
        </description>
      </value>
      <value id="2" name="Initializing" abbrev="INITIALIZING">
        <description>
          Initializing plan for execution.
        </description>
      </value>
      <value id="3" name="Executing" abbrev="EXECUTING">
        <description>
          Executing plan.
        </description>
      </value>
    </field>
    <field name="Plan -- ID" abbrev="plan_id" type="plaintext">
      <description>
        Identifier of plan currently loaded.
      </description>
    </field>
    <field name="Plan -- ETA" abbrev="plan_eta" type="int32_t" unit="s">
      <description>
        Current plan estimated time to completion.
        The value will be -1 if the time is unknown or undefined.
      </description>
    </field>
    <field name="Plan -- Progress" abbrev="plan_progress" type="fp32_t" unit="%">
      <description>
        Current plan estimated progress in percent.
        The value will be negative if unknown or undefined.
      </description>
    </field>
    <field name="Maneuver -- ID" abbrev="man_id" type="plaintext">
      <description>
        Current node ID, when executing a plan.
      </description>
    </field>
    <field name="Maneuver -- Type" abbrev="man_type" type="uint16_t">
      <description>
        Type of maneuver being executed (IMC serialization id),
        when executing a plan.
      </description>
    </field>
    <field name="Maneuver -- ETA" abbrev="man_eta" type="int32_t" unit="s">
      <description>
        Current node estimated time to completion, when executing a plan.
        The value will be -1 if the time is unknown or undefined.
      </description>
    </field>
    <field name="Last Plan Outcome" abbrev="last_outcome" type="uint8_t" prefix="LPO" unit="Enumerated">
      <description>
        Outcome of the last executed plan.
      </description>
      <value id="0" name="None" abbrev="NONE">
        <description>
          Unknown or not filled.
        </description>
      </value>
      <value id="1" name="Success" abbrev="SUCCESS">
        <description>
          Last plan execution was successful.
        </description>
      </value>
      <value id="2" name="Failure" abbrev="FAILURE">
        <description>
          Last plan execution was a failure.
        </description>
      </value>
    </field>
  </message>

  <message id="561" name="Plan Variable" abbrev="PlanVariable" source="vehicle,ccu" category="Plan Supervision">
    <description>A plan variable.</description>
    <field name="Name" abbrev="name" type="plaintext"/>
    <field name="Value" abbrev="value" type="plaintext"/>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="PVT">
      <value id="0" name="Boolean" abbrev="BOOLEAN"/>
      <value id="1" name="Number" abbrev="NUMBER"/>
      <value id="2" name="Text" abbrev="TEXT"/>
      <value id="3" name="Message" abbrev="MESSAGE"/>
    </field>
    <field name="Access Type" abbrev="access" type="uint8_t" unit="Enumerated" prefix="PVA">
      <value id="0" name="Input" abbrev="INPUT"/>
      <value id="1" name="Output" abbrev="OUTPUT"/>
      <value id="2" name="Local" abbrev="LOCAL"/>
    </field>
  </message>

  <message id="562" name="Plan Generation" abbrev="PlanGeneration" source="vehicle,ccu" category="Plan Supervision">
    <description>
      This message is used to order the generation of plans based on
      id and set of parameters.
    </description>
    <field name="Command" abbrev="cmd" type="uint8_t" unit="Enumerated" prefix="CMD">
      <value abbrev="GENERATE" name="Generate" id="0">
        <description>
          Generate the plan and store it in the PlanDB.
        </description>
      </value>
      <value abbrev="EXECUTE" name="Execute" id="1">
        <description>
          Generate (storing it in the PlanDB) and execute it immediately.
        </description>
      </value>
    </field>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <value abbrev="REQUEST" name="Request" id="0">
        <description>
          Request the execution of this command.
        </description>
      </value>
      <value abbrev="ERROR" name="Error" id="1">
        <description>
          Some error has occurred while executing the command. The
          error can be found in the 'params' tuplelist (under the
          key 'error').
        </description>
      </value>
      <value abbrev="SUCCESS" name="Success" id="2">
        <description>
          The requested command was executed successfully.
        </description>
      </value>
    </field>
    <field name="Plan Identifier" abbrev="plan_id" type="plaintext">
      <description>
        The name of the plan to be generated.
      </description>
    </field>
    <field name="Parameters" abbrev="params" type="plaintext" unit="TupleList">
      <description>
        An optional list of parameters to be used by the plan
        generation module.
      </description>
    </field>
  </message>

  <message id="563" name="Leader State" abbrev="LeaderState" source="vehicle" flags="periodic" category="Plan Supervision">
    <description>
      This message defines the formation leader state.

      LeaderState is a complete description of the leader state
      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:

      .. figure:: ../images/euler-lauv.png

      :align:  center

      Euler angles
    </description>
    <field name="Group Name" abbrev="group_name" type="plaintext">
      <description>
        Name for the formation group.
      </description>
    </field>
    <field name="Action on the leader state" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Action on the formation leader state variables
      </description>
      <value id="0" name="Request" abbrev="REQUEST"/>
      <value id="1" name="Set" abbrev="SET"/>
      <value id="2" name="Report" abbrev="REPORT"/>
    </field>
    <field name="Latitude (WGS-84)" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude.
      </description>
    </field>
    <field name="Longitude (WGS-84)" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude.
      </description>
    </field>
    <field name="Height (WGS-84)" abbrev="height" type="fp32_t" unit="m">
      <description>
        Height above the WGS-84 ellipsoid.
      </description>
    </field>
    <field name="Offset north" abbrev="x" type="fp32_t" unit="m">
      <description>
        The North offset of the North/East/Down field with respect to
        LLH.
      </description>
    </field>
    <field name="Offset east" abbrev="y" type="fp32_t" unit="m">
      <description>
        The East offset of the North/East/Down field with respect to
        LLH.
      </description>
    </field>
    <field name="Offset down" abbrev="z" type="fp32_t" unit="m">
      <description>
        The Down offset of the North/East/Down field with respect to
        LLH.
      </description>
    </field>
    <field name="Rotation over x axis" abbrev="phi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The phi Euler angle from the vehicle's attitude.
      </description>
    </field>
    <field name="Rotation over y axis" abbrev="theta" type="fp32_t" unit="rad" min="-1.57079632679490" max="1.57079632679490">
      <description>
        The theta Euler angle from the vehicle's attitude.
      </description>
    </field>
    <field name="Rotation over z axis" abbrev="psi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The psi Euler angle from the vehicle's attitude.
      </description>
    </field>
    <field name="Ground Velocity X (North)" abbrev="vx" type="fp32_t" unit="m/s">
      <description>
        Ground Velocity xx axis velocity component.
      </description>
    </field>
    <field name="Ground Velocity Y (East)" abbrev="vy" type="fp32_t" unit="m/s">
      <description>
        Ground Velocity yy axis velocity component.
      </description>
    </field>
    <field name="Ground Velocity Z (Down)" abbrev="vz" type="fp32_t" unit="m/s">
      <description>
        Ground Velocity zz axis velocity component.
      </description>
    </field>
    <field name="Angular Velocity in x" abbrev="p" type="fp32_t" unit="rad/s" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The angular velocity over body-fixed xx axis (roll).
      </description>
    </field>
    <field name="Angular Velocity in y" abbrev="q" type="fp32_t" unit="rad/s" min="-3.141592653589793" max="3.141592653589793">
      <description>
        The angular velocity over body-fixed yy axis (pitch).
      </description>
    </field>
    <field name="Angular Velocity in z" abbrev="r" type="fp32_t" unit="rad/s"  min="-3.141592653589793" max="3.141592653589793">
      <description>
        The angular velocity over body-fixed zz axis (yaw).
      </description>
    </field>
    <field name="Stream Velocity X (North)" abbrev="svx" type="fp32_t" unit="m/s">
      <description>
        Stream Velocity xx axis velocity component.
      </description>
    </field>
    <field name="Stream Velocity Y (East)" abbrev="svy" type="fp32_t" unit="m/s">
      <description>
        Stream Velocity yy axis velocity component.
      </description>
    </field>
    <field name="Stream Velocity Z (Down)" abbrev="svz" type="fp32_t" unit="m/s">
      <description>
        Stream Velocity zz axis velocity component.
      </description>
    </field>
  </message>

  <message id="564" name="Plan Statistics" abbrev="PlanStatistics" source="vehicle" category="Plan Supervision">
    <field name="Plan Identifier" abbrev="plan_id" type="plaintext">
      <description>
        The name of the plan to be generated.
      </description>
    </field>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="TP">
      <description>
        Type of plan statistics, if they are launched before, during or after the plan execution.
      </description>
      <value id="0" name="Before Plan" abbrev="PREPLAN"/>
      <value id="1" name="During Plan" abbrev="INPLAN"/>
      <value id="2" name="After Plan" abbrev="POSTPLAN"/>
    </field>
    <field name="Properties" abbrev="properties" type="uint8_t" prefix="PRP" unit="Bitfield">
      <value id="0x00" name="Basic Plan" abbrev="BASIC">
        <description>
          Basic plan, meaning it is Linear, Finite and Noncyclic.
        </description>
      </value>
      <value id="0x01" name="Nonlinear" abbrev="NONLINEAR">
        <description>
          Plan is nonlinear.
        </description>
      </value>
      <value id="0x02" name="Infinite" abbrev="INFINITE">
        <description>
          Plan is infinite in duration.
        </description>
      </value>
      <value id="0x04" name="Cyclical" abbrev="CYCLICAL">
        <description>
          Plan is cyclical.
        </description>
      </value>
      <value id="0x07" name="All" abbrev="ALL">
        <description>
          All properties checked.
        </description>
      </value>
    </field>
    <field name="Durations" abbrev="durations" type="plaintext" unit="TupleList">
      <description>
        Maneuver and plan duration statistics in seconds, for example: Total=1000,Goto1=20,Rows=980
      </description>
    </field>
    <field name="Distances" abbrev="distances" type="plaintext" unit="TupleList">
      <description>
        Distances travelled in meters in each maneuver and/or total: Total=2000,Rows=1800,Elevator=200
      </description>
    </field>
    <field name="Actions" abbrev="actions" type="plaintext" unit="TupleList">
      <description>
        List of components active by plan actions during the plan and time active in seconds: Sidescan=100,Camera Module=150
      </description>
    </field>
    <field name="Fuel" abbrev="fuel" type="plaintext" unit="TupleList">
      <description>
        Amount of fuel spent, in battery percentage, by different parcels (if applicable): Total=35,Hotel=5,Payload=10,Motion=20,IMU=0
      </description>
    </field>
  </message>

  <!-- CCU Messages (Internal and between CCUs) -->
  <message id="600" name="Reported State" abbrev="ReportedState" source="vehicle,ccu" category="CCU">
    <description>
      A vehicle state that is reported to other consoles (including PDAConsole). Source can be acoustic tracker, SMS, Wi-Fi, etc...
    </description>
    <field name="Latitude" abbrev="lat" type="fp64_t" unit="rad"/>
    <field name="Longitude" abbrev="lon" type="fp64_t" unit="rad"/>
    <field name="Depth" abbrev="depth" type="fp64_t" unit="m">
      <description>
        The reported depth. In the case of not knowing the depth 0 will be reported.
        Airplanes usually have negative values (por positive altitude).
      </description>
    </field>
    <field name="Roll" abbrev="roll" type="fp64_t" unit="rad">
      <description>The phi Euler angle from the vehicle's attitude.</description>
    </field>
    <field name="Pitch" abbrev="pitch" type="fp64_t" unit="rad">
      <description>The theta Euler angle from the vehicle's attitude.</description>
    </field>
    <field name="Yaw" abbrev="yaw" type="fp64_t" unit="rad">
      <description>The psi Euler angle from the vehicle's attitude.</description>
    </field>
    <field name="Reception Time" abbrev="rcp_time" type="fp64_t" unit="s" note="Correct interpretation of this field may require synchronization of clocks between sender and recipient">
      <description>
        The time when the packet was sent, as seen by the packet
        dispatcher. The number of seconds is represented in Universal
        Coordinated Time (UCT) in seconds since Jan 1, 1970 using IEEE
        double precision floating point numbers.
      </description>
    </field>
    <field name="System Identifier" abbrev="sid" type="plaintext">
      <description>
        The id of the system whose position is being reported (it can be a vehicle's id, a boat name, etc)
      </description>
    </field>
    <field name="Source Type" abbrev="s_type" type="uint8_t" unit="Enumerated" prefix="STYPE">
      <description>How the position was received/calculated</description>
      <value id="0" name="Wi-Fi" abbrev="WI_FI"/>
      <value id="1" name="Tracker" abbrev="TRACKER"/>
      <value id="2" name="SMS" abbrev="SMS"/>
      <value id="3" name="Acoustic Modem" abbrev="ACOUSTIC_MODEM"/>
      <value id="254" name="Unknown source" abbrev="UNKNOWN"/>
    </field>
  </message>

  <message id="601" name="Remote Sensor Info" abbrev="RemoteSensorInfo" source="ccu" category="CCU">
    <description>
      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.
    </description>
    <field name="Id" abbrev="id" type="plaintext">
      <description>An unique string that identifies the sensor. Used mostly for logging/presentation.</description>
    </field>
    <field name="Class" abbrev="sensor_class" type="plaintext">
      <description>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.</description>
    </field>
    <field name="Latitude" abbrev="lat" type="fp64_t" unit="rad"/>
    <field name="Longitude" abbrev="lon" type="fp64_t" unit="rad"/>
    <field name="Altitude" abbrev="alt" type="fp32_t" unit="m"/>
    <field name="Heading" abbrev="heading" type="fp32_t" unit="rad"/>
    <field name="Custom Data" abbrev="data" type="plaintext" unit="TupleList"/>
  </message>

  <!-- messages used to send maps to the Android Command and Control Unit (ACCU) -->
  <message id="602" name="Map" abbrev="Map" source="ccu" category="CCU">
    <description>This message represents a simple map that is transferred between CCU consoles (from Neptus to ACCU)</description>
    <field name="Identifier" abbrev="id" type="plaintext">
      <description>The id of the map</description>
    </field>
    <field name="Features" abbrev="features" type="message-list" message-type="MapFeature">
      <description>A list of map features.</description>
    </field>
  </message>

  <message id="603" name="Map Feature" abbrev="MapFeature" source="ccu" category="CCU">
    <description>A feature to appear on the map</description>
    <field name="Identifier" abbrev="id" type="plaintext">
      <description>The unique identifier for this feature (used as the name for points of interest)</description>
    </field>
    <field name="FeatureType" abbrev="feature_type" type="uint8_t" unit="Enumerated" prefix="FTYPE">
      <description>The type of feature</description>
      <value id="0" name="Point of Interest" abbrev="POI">
        <description>These features should appear as a point with a label in the map</description>
      </value>
      <value id="1" name="Filled Polygon" abbrev="FILLEDPOLY">
        <description>These features should be represented as a filled polygon (no label)</description>
      </value>
      <value id="2" name="Countoured Polygon" abbrev="CONTOUREDPOLY">
        <description>These features should be represented as a countoured closed polygon (no fill and no label)</description>
      </value>
      <value id="3" name="Line" abbrev="LINE">
        <description>These features should be represented as an open polygon (no label)</description>
      </value>
      <value id="4" name="Transponder" abbrev="TRANSPONDER">
        <description>A transponder location in the map</description>
      </value>
      <value id="5" name="Start Location" abbrev="STARTLOC">
        <description>Intended vehicle's starting location</description>
      </value>
      <value id="6" name="Home Reference" abbrev="HOMEREF">
        <description>The offsets reference for this map</description>
      </value>
    </field>
    <field name="RedComponent" abbrev="rgb_red" type="uint8_t">
      <description>The red component of the color for this point</description>
    </field>
    <field name="GreenComponent" abbrev="rgb_green" type="uint8_t">
      <description>The green component of the color for this point</description>
    </field>
    <field name="BlueComponent" abbrev="rgb_blue" type="uint8_t">
      <description>The blue component of the color for this point</description>
    </field>
    <field name="Feature" abbrev="feature" type="message-list" message-type="MapPoint">
      <description>The enclosing feature definition.</description>
    </field>
  </message>

  <message id="604" name="MapPoint" abbrev="MapPoint" source="ccu" category="CCU">
    <description>This message represents a point in the world.</description>
    <field name="Latitude" abbrev="lat" type="fp64_t" unit="rad"/>
    <field name="Longitude" abbrev="lon" type="fp64_t" unit="rad"/>
    <field name="Altitude" abbrev="alt" type="fp32_t" unit="m"/>
  </message>

  <message id="606" name="CCU Event" abbrev="CcuEvent" source="ccu" category="CCU">
    <description>
      This message is used to signal events among running CCUs.
    </description>
    <field name="Event Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="EVT">
      <value abbrev="LOG_ENTRY" name="Log Book Entry Added" id="1" />
      <value abbrev="PLAN_ADDED" name="Plan Added" id="2" />
      <value abbrev="PLAN_REMOVED" name="Plan Removed" id="3" />
      <value abbrev="PLAN_CHANGED" name="Plan Changed" id="4" />
      <value abbrev="MAP_FEATURE_ADDED" name="Map feature added" id="5" />
      <value abbrev="MAP_FEATURE_REMOVED" name="Map feature removed" id="6" />
      <value abbrev="MAP_FEATURE_CHANGED" name="Map feature changed" id="7" />
      <value abbrev="TELEOPERATION_STARTED" name="The sender is now teleoperating the vehicle" id="8" />
      <value abbrev="TELEOPERATION_ENDED" name="The sender stopped teleoperating the vehicle" id="9" />
    </field>

    <field name="Identifier" abbrev="id" type="plaintext"/>
    <field name="Additional Data" abbrev="arg" type="message"/>
  </message>

  <!-- Autonomy -->
  <message id="650" name="Vehicle Links" abbrev="VehicleLinks" source="vehicle" category="Autonomy">
    <description>
      This message is sent by the TREX task which gives further information to a TREX instance about connected IMC nodes
    </description>
    <field name="Local Name" abbrev="localname" type="plaintext">
      <description>The name of the vehicle being controlled</description>
    </field>
    <field name="Active Links" abbrev="links" type="message-list" message-type="Announce">
      <description>A list of Announce messages with last announces heard</description>
    </field>
  </message>

  <message id="651" name="TREX Observation" abbrev="TrexObservation" source="vehicle,ccu" flags="deprecated" category="Autonomy">
    <description>
      This message is sent to TREX to post timeline observations
    </description>
    <field name="Timeline" abbrev="timeline" type="plaintext" />
    <field name="Predicate" abbrev="predicate" type="plaintext" />
    <field name="Attributes" abbrev="attributes" type="plaintext" unit="TupleList" />
  </message>

  <message id="652" name="TREX Command" abbrev="TrexCommand" source="vehicle,ccu" flags="deprecated" category="Autonomy">
    <description>
      This message is used to control TREX execution
    </description>
    <field name="Command" abbrev="command" type="uint8_t" unit="Enumerated" prefix="OP">
      <value abbrev="DISABLE" name="Disable TREX" id="0"/>
      <value abbrev="ENABLE" name="Enable TREX" id="1"/>
      <value abbrev="POST_GOAL" name="Post Goal" id="2"/>
      <value abbrev="RECALL_GOAL" name="Recall Goal" id="3"/>
      <value abbrev="REQUEST_PLAN" name="Request current plan" id="4"/>
      <value abbrev="REPORT_PLAN" name="Report current plan" id="5"/>
    </field>

    <field name="Goal Id" abbrev="goal_id" type="plaintext">
      <description>The id of the goal, if applicable (OP == POST_GOAL || OP == RECALL_GOAL)</description>
    </field>
    <field name="Goal XML" abbrev="goal_xml" type="plaintext">
      <description>The goal encoded as XML, if applicable (OP == POST_GOAL)</description>
    </field>
  </message>

  <message id="655" name="TREX Operation" abbrev="TrexOperation" source="vehicle,ccu" category="Autonomy">
    <description>
      This message is used to control TREX execution
    </description>

    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <value abbrev="POST_TOKEN" name="Post Token" id="1"/>
      <value abbrev="POST_GOAL" name="Post Goal" id="2"/>
      <value abbrev="RECALL_GOAL" name="Recall Goal" id="3"/>
      <value abbrev="REQUEST_PLAN" name="Request current plan" id="4"/>
      <value abbrev="REPORT_PLAN" name="Report current plan" id="5"/>
    </field>

    <field name="Goal Id" abbrev="goal_id" type="plaintext">
      <description>The id of the goal, if applicable (OP == POST_GOAL || OP == RECALL_GOAL)</description>
    </field>

    <field name="Token" abbrev="token" type="message" message-type="TrexToken">
      <description>Goal / observation to post, if applicable (OP == POST_GOAL || OP == POST_TOKEN)</description>
    </field>
  </message>

  <message id="656" name="TREX Attribute" abbrev="TrexAttribute" source="vehicle,ccu" category="Autonomy">

    <field name="Attribute Name" abbrev="name" type="plaintext">
      <description>Name of this attribute.</description>
    </field>

    <field name="Attribute type" abbrev="attr_type" type="uint8_t" unit="Enumerated" prefix="TYPE">
      <value abbrev="BOOL" name="Boolean Domain" id="1"/>
      <value abbrev="INT" name="Integer Domain" id="2"/>
      <value abbrev="FLOAT" name="Float Domain" id="3"/>
      <value abbrev="STRING" name="String Domain" id="4"/>
      <value abbrev="ENUM" name="Enumerated Domain" id="5"/>
    </field>

    <field name="Minimum" abbrev="min" type="plaintext">
      <description>Lower bound of this interval. Empty text means no bound.</description>
    </field>

    <field name="Maximum" abbrev="max" type="plaintext">
      <description>Upper bound of this interval. Empty text means no bound.</description>
    </field>
  </message>

  <message id="657" name="TREX Token" abbrev="TrexToken" source="vehicle,ccu" category="Autonomy">
    <field name="Timeline" abbrev="timeline" type="plaintext" />
    <field name="Predicate" abbrev="predicate" type="plaintext" />
    <field name="Attributes" abbrev="attributes" type="message-list" message-type="TrexAttribute" />
  </message>

  <message id="658" abbrev="TrexPlan" name="TREX Plan" source="vehicle,ccu" category="Autonomy">
    <field name="Reactor name" abbrev="reactor" type="plaintext" />
    <field name="Tokens" abbrev="tokens" type="message-list" message-type="TrexToken" />
  </message>

  <message id="660" abbrev="Event" name="Event" source="vehicle,ccu" category="Autonomy">
    <description>
      This message is used for signaling asynchronous events between different (sub) systems.
    </description>
    <field name="Topic" abbrev="topic" type="plaintext">
      <description>The name or type of this event</description>
    </field>
    <field name="Data" abbrev="data" type="plaintext" unit="TupleList">
      <description>A map with additional event information.</description>
    </field>
  </message>

  <!-- Vision -->
  <message id="702" name="Compressed Image" abbrev="CompressedImage" source="ccu, vehicle" category="Vision">
    <description/>
    <field name="Frame Id" abbrev="frameid" type="uint8_t"/>
    <field name="Data" abbrev="data" type="rawdata"/>
  </message>

  <message id="703" name="Image Transmission Settings" abbrev="ImageTxSettings" source="ccu, vehicle" category="Vision">
    <description/>
    <field name="Frames Per Second" abbrev="fps" type="uint8_t"/>
    <field name="Quality" abbrev="quality" type="uint8_t"/>
    <field name="Repetitions" abbrev="reps" type="uint8_t"/>
    <field name="Target Size" abbrev="tsize" type="uint8_t"/>
  </message>

  <!-- External -->
  <message id="750" name="Remote State" abbrev="RemoteState" source="vehicle" category="CCU">
    <description>State summary for a remote vehicle.</description>
    <field name="Latitude WGS-84" abbrev="lat" type="fp32_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>WGS-84 Latitude.</description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>WGS-84 Longitude.</description>
    </field>
    <field name="Depth" abbrev="depth" type="uint8_t" unit="m">
      <description>Depth.</description>
    </field>
    <field name="Speed" abbrev="speed" type="fp32_t" unit="m/s">
      <description>Speed.</description>
    </field>
    <field name="Heading"  abbrev="psi" type="fp32_t" unit="rad">
      <description>Heading.</description>
    </field>
  </message>

  <!-- Development -->
  <message id="800" name="Target" abbrev="Target" category="Maneuvering">
    <description>
      Target.
    </description>
    <field name="Label" abbrev="label" type="plaintext">
      <description>
        Target identifier.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude coordinate.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude coordinate.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Z axis reference. Use z_units to specify whether z represents
        depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Course Over Ground" abbrev="cog" type="fp32_t" unit="rad">
      <description>
        Course Over Ground (true).
      </description>
    </field>
    <field name="Speed Over Ground" abbrev="sog" type="fp32_t" unit="m/s">
      <description>
        Speed Over Ground.
      </description>
    </field>
  </message>

  <message id="801" name="EntityParameter" abbrev="EntityParameter" source="ccu,vehicle" category="Core">
    <description>
      Entity parameter.
    </description>
    <field name="Name" abbrev="name" type="plaintext">
      <description>
        Name of the parameter.
      </description>
    </field>
    <field name="Value" abbrev="value" type="plaintext">
      <description>
        Current value of the parameter.
      </description>
    </field>
  </message>

  <message id="802" name="EntityParameters" abbrev="EntityParameters" source="ccu,vehicle" category="Core">
    <description>
      List of entity parameters.
    </description>
    <field name="Entity Name" abbrev="name" type="plaintext">
      <description>
        Name of the entity.
      </description>
    </field>
    <field name="Parameters" abbrev="params" type="message-list" message-type="EntityParameter">
      <description>
        List of parameters.
      </description>
    </field>
  </message>

  <message id="803" name="QueryEntityParameters" abbrev="QueryEntityParameters" source="ccu,vehicle" category="Core">
    <field name="Entity Name" abbrev="name" type="plaintext"/>
    <field name="Visibility" abbrev="visibility" type="plaintext"/>
    <field name="Scope" abbrev="scope" type="plaintext"/>
  </message>

  <message id="804" name="SetEntityParameters" abbrev="SetEntityParameters" source="ccu,vehicle" category="Core">
    <field name="Entity Name" abbrev="name" type="plaintext"/>
    <field name="Parameters" abbrev="params" type="message-list" message-type="EntityParameter"/>
  </message>

  <message id="805" name="SaveEntityParameters" abbrev="SaveEntityParameters" source="ccu,vehicle" category="Core">
    <field name="Entity Name" abbrev="name" type="plaintext"/>
  </message>

  <message id="806" name="Create Session" abbrev="CreateSession" source="ccu,vehicle" stable="false" category="Networking">
    <description>
      Request creating a new session with this remote peer. Example
      session sequence is shown in the following diagram.

      .. figure:: ../images/session_sequence.png

      :align:  center
    </description>
    <field name="Session Timeout" abbrev="timeout" type="uint32_t">
      <description>
        Session timeout, in seconds. If no messages are received from
        the remote peer, the session will be closed after this ammount
        of seconds have ellapsed.
      </description>
    </field>
  </message>

  <message id="807" name="Close Session" abbrev="CloseSession" source="ccu,vehicle" stable="false" category="Networking">
    <description>
      Request closing of an ongoing session
    </description>
    <field name="Session Identifier" abbrev="sessid" type="uint32_t"/>
  </message>

  <message id="808" name="Session Subscription" abbrev="SessionSubscription" source="ccu,vehicle" stable="false" category="Networking">
    <field name="Session Identifier" abbrev="sessid" type="uint32_t"/>
    <field name="Messages to subscribe" abbrev="messages" type="plaintext">
      <description>
        Comma-separated list of messages to subscribe. Example:
        "EstimatedState,EulerAngles,Temperature"
      </description>
    </field>
  </message>

  <message id="809" name="Session Keep-Alive" abbrev="SessionKeepAlive" source="ccu,vehicle" stable="false" category="Networking">
    <description>Message exchanged to prevent a session from timing out</description>
    <field name="Session Identifier" abbrev="sessid" type="uint32_t"/>
  </message>

  <message id="810" name="Session Status" abbrev="SessionStatus" source="ccu,vehicle" flags="periodic" stable="false" category="Networking">
    <description>Message transmitted periodically to inform the state of a communication session</description>
    <field name="Session Identifier" abbrev="sessid" type="uint32_t"/>
    <field name="Status" abbrev="status" type="uint8_t" unit="Enumerated" prefix="STATUS">
      <value abbrev="ESTABLISHED" name="Established" id="1"/>
      <value abbrev="CLOSED" name="Closed" id="2"/>
    </field>
  </message>

  <message id="811" name="Push Entity Parameters" abbrev="PushEntityParameters" source="ccu,vehicle" category="Core">
    <field name="Entity Name" abbrev="name" type="plaintext"/>
  </message>

  <message id="812" name="Pop Entity Parameters" abbrev="PopEntityParameters" source="ccu,vehicle" category="Core">
    <field name="Entity Name" abbrev="name" type="plaintext"/>
  </message>

  <message id="813" name="I/O Event" abbrev="IoEvent" source="ccu,vehicle" category="Core">
    <description>
      Notification of an I/O event.
    </description>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="IOV_TYPE">
      <description>
        Event type.
      </description>
      <value abbrev="INPUT" name="Input Available" id="1"/>
      <value abbrev="INPUT_ERROR" name="Input Error" id="2"/>
    </field>
    <field name="Error Message" abbrev="error" type="plaintext">
      <description>
        Human-readable error message.
      </description>
    </field>
  </message>

  <message id="814" name="UamTxFrame" abbrev="UamTxFrame" source="ccu,vehicle" category="Acoustic Communication">
    <description>
      This message shall be sent to acoustic modem drivers to request
      transmission of a data frame via the acoustic channel.
    </description>
    <field name="Sequence Id" abbrev="seq" type="uint16_t">
      <description>
        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.
      </description>
    </field>
    <field name="Destination System" abbrev="sys_dst" type="plaintext">
      <description>
        The canonical name of the destination system. If supported, the
        special destination 'broadcast' shall be used to dispatch messages
        to all nodes.
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="UTF">
      <description>
        Transmission flags.
      </description>
      <value abbrev="ACK" name="Acknowledgement" id="0x01">
        <description>
          On modems that support it, this flag shall be used to request an
          acknowledgment of reception from the receiving node.
        </description>
      </value>
      <value abbrev="DELAYED" name="Delayed" id="0x02">
        <description>
          On modems that support it, this flag shall be used to delay the
          frame transmission until the modem needs to transmit control
          data (e.g., acknowledgment of reception, etc).
        </description>
      </value>
      <value abbrev="FORCED" name="Forced" id="0x04">
        <description>
          Ignore safety checks such as "transducer not connected".
        </description>
      </value>
    </field>
    <field name="Data" abbrev="data" type="rawdata">
      <description>
        The actual data frame to transmit. The data size shall not exceed
        the MTU of the acoustic modem.
      </description>
    </field>
  </message>

  <message id="815" name="UamRxFrame" abbrev="UamRxFrame" source="ccu,vehicle" category="Acoustic Communication">
    <description>
      This message shall be dispatched by acoustic modem drivers each time
      a data frame is received over the acoustic channel.
    </description>
    <field name="Source System" abbrev="sys_src" type="plaintext">
      <description>
        The canonical name of the node that transmitted the data frame. If
        this name cannot be resolved the string 'unknown' shall be used.
      </description>
    </field>
    <field name="Destination System" abbrev="sys_dst" type="plaintext">
      <description>
        The canonical name of the destination node of the data frame. If
        this name cannot be resolved the string 'unknown' shall be used.
      </description>
    </field>
    <field name="Flags" abbrev="flags" type="uint8_t" unit="Bitfield" prefix="URF">
      <description>
        Reception flags.
      </description>
      <value abbrev="PROMISCUOUS" name="Promiscuous" id="0x01">
        <description>
          The data frame was transmitted to an acoustic modem other than
          the one the acoustic modem driver is controlling.
        </description>
      </value>
      <value abbrev="DELAYED" name="Delayed" id="0x02">
        <description>
          The data frame was transmitted using the DELAYED flag.
        </description>
      </value>
    </field>
    <field name="Data" abbrev="data" type="rawdata">
      <description>
        The actual received data frame.
      </description>
    </field>
  </message>

  <message id="816" name="UamTxStatus" abbrev="UamTxStatus" source="ccu,vehicle" category="Acoustic Communication">
    <description>
      This message shall be used by acoustic modem drivers to send updates
      on the transmission status of data frames.
    </description>
    <field name="Sequence Id" abbrev="seq" type="uint16_t">
      <description>
        The sequence identifier of the frame transmission request.
      </description>
    </field>
    <field name="Value" abbrev="value" type="uint8_t" unit="Enumerated" prefix="UTS">
      <description>
        Frame transmission status.
      </description>
      <value abbrev="DONE" name="Transmission Completed" id="0">
        <description>
          The frame transmission was completed.
        </description>
      </value>
      <value abbrev="FAILED" name="Transmission Failed" id="1">
        <description>
          The frame transmission failed. The reason for the failure is given in
          the field 'error'.
        </description>
      </value>
      <value abbrev="CANCELED" name="Transmission Canceled" id="2">
        <description>
          The frame transmission was canceled.
        </description>
      </value>
      <value abbrev="BUSY" name="Modem is busy" id="3">
        <description>
          The acoustic modem driver is busy and could not honor the
          frame transmission request at the moment.
        </description>
      </value>
      <value abbrev="INV_ADDR" name="Invalid address" id="4">
        <description>
          The canonical name of the destination node could not be
          resolved.
        </description>
      </value>
      <value abbrev="IP" name="In Progress" id="5">
        <description>
          The frame transmission is in progress.
        </description>
      </value>
      <value abbrev="UNSUPPORTED" name="Unsupported operation" id="6">
        <description>
          The frame transmission request is not valid for this acoustic
          modem driver.
        </description>
      </value>
      <value abbrev="INV_SIZE" name="Invalid transmission size" id="7">
        <description>
          The frame transmission request exceeds the MTU of the acoustic
          modem.
        </description>
      </value>
      <value abbrev="SENT" name="Message has been sent" id="8">
        <description>
          The message has been sent out.
        </description>
      </value>
      <value abbrev="DELIVERED" name="Message has been acknowledged by the destination" id="9">
        <description>
          Message has been acknowledged by the destination.
        </description>
      </value>
    </field>
    <field name="Error Message" abbrev="error" type="plaintext">
      <description>
        Where applicable this field shall contain a human-readable message
        explaining the error.
      </description>
    </field>
  </message>

  <message id="817" name="UamRxRange" abbrev="UamRxRange" source="ccu,vehicle" category="Acoustic Communication">
    <description>
      Acoustic range measurement.
    </description>
    <field name="Sequence Id" abbrev="seq" type="uint16_t">
      <description>
        The sequence identifier of the ranging request.
      </description>
    </field>
    <field name="System" abbrev="sys" type="plaintext">
      <description>
        The canonical name of the ranged system.
      </description>
    </field>
    <field name="Value" abbrev="value" type="fp32_t" unit="m">
      <description>
        The actual range. Negative values denote invalid measurements.
      </description>
    </field>
  </message>

  <message id="818" name="UamTxRange" abbrev="UamTxRange" source="ccu,vehicle" category="Acoustic Communication">
    <description>
      Request an acoustic modem driver to measure the distance to another system.
    </description>
    <field name="Sequence Id" abbrev="seq" type="uint16_t">
      <description>
        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.
      </description>
    </field>
    <field name="Destination System" abbrev="sys_dst" type="plaintext">
      <description>
        The canonical name of the target system.
      </description>
    </field>
    <field name="Timeout" abbrev="timeout" type="fp32_t" unit="s">
      <description>
        Maximum amount of time to wait for a reply.
      </description>
    </field>
  </message>

  <message id="820" name="Formation Control Parameters" abbrev="FormCtrlParam" source="ccu,vehicle" category="Maneuvering">
    <description>
      Formation controller paramenters, as: trajectory gains, control boundary layer thickness, and formation shape gains.
    </description>
    <field name="Action" abbrev="Action" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Action on the vehicle formation control parameters.
      </description>
      <value id="0" name="Request" abbrev="REQ"/>
      <value id="1" name="Set" abbrev="SET"/>
      <value id="2" name="Report" abbrev="REP"/>
    </field>
    <field name="Longitudinal Gain" abbrev="LonGain" type="fp32_t">
      <description>
        Trajectory gain over the vehicle longitudinal direction.
      </description>
    </field>
    <field name="Lateral Gain" abbrev="LatGain" type="fp32_t">
      <description>
        Trajectory gain over the vehicle lateral direction.
      </description>
    </field>
    <field name="Boundary Layer Thickness" abbrev="BondThick" type="uint32_t">
      <description>
        Control sliding surface boundary layer thickness.
      </description>
    </field>
    <field name="Leader Gain" abbrev="LeadGain" type="fp32_t">
      <description>
        Formation shape gain (absolute vehicle position tracking).
        Leader control importance gain (relative to the sum of every other formation vehicle).
      </description>
    </field>
    <field name="Deconfliction Gain" abbrev="DeconflGain" type="fp32_t">
      <description>
        Collision avoidance and formation shape gain (position tracking relative to the other formation vehicles).
        Individual vehicle importance gain (relative to the leader), when the relative position or the velocity state indicate higher probability of collision.
      </description>
    </field>
  </message>

  <message id="821" name="Formation Evaluation Data" abbrev="FormationEval" category="Maneuvering">
    <description>
      Formation control performance evaluation variables.
    </description>
    <field name="Mean position error" abbrev="err_mean" type="fp32_t">
      <description>
        Mean position error relative to the formation reference.
      </description>
    </field>
    <field name="Absolute minimum distance" abbrev="dist_min_abs" type="fp32_t">
      <description>
        Overall minimum distance to any other vehicle in the formation.
      </description>
    </field>
    <field name="Mean minimum distance" abbrev="dist_min_mean" type="fp32_t">
      <description>
        Mean minimum distance to any other vehicle in the formation.
      </description>
    </field>
  </message>

  <message id="822" name="Formation Control Parameters" abbrev="FormationControlParams" source="ccu,vehicle" category="Maneuvering">
    <description>
      Formation controller paramenters, as: trajectory gains,
      control boundary layer thickness, and formation shape gains.
    </description>
    <field name="Action" abbrev="Action" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Action on the vehicle formation control parameters.
      </description>
      <value id="0" name="Request" abbrev="REQ"/>
      <value id="1" name="Set" abbrev="SET"/>
      <value id="2" name="Report" abbrev="REP"/>
    </field>
    <field name="Longitudinal Gain" abbrev="lon_gain" type="fp32_t">
      <description>
        Trajectory gain over the vehicle longitudinal direction.
      </description>
    </field>
    <field name="Lateral Gain" abbrev="lat_gain" type="fp32_t">
      <description>
        Trajectory gain over the vehicle lateral direction.
      </description>
    </field>
    <field name="Boundary Layer Thickness" abbrev="bond_thick" type="fp32_t">
      <description>
        Control sliding surface boundary layer thickness.
      </description>
    </field>
    <field name="Leader Gain" abbrev="lead_gain" type="fp32_t">
      <description>
        Formation shape gain (absolute vehicle position tracking).
        Leader control importance gain (relative to the sum of every other formation vehicle).
      </description>
    </field>
    <field name="Deconfliction Gain" abbrev="deconfl_gain" type="fp32_t">
      <description>
        Collision avoidance and formation shape gain (position tracking relative to the other formation vehicles).
        Individual vehicle importance gain (relative to the leader), when the relative position or the velocity state indicate higher probability of collision.
      </description>
    </field>
    <field name="Acceleration Switch Gain" abbrev="accel_switch_gain" type="fp32_t">
      <description>
        Switch gain to compensate the worst case of the wind flow acceleration.
      </description>
    </field>
    <field name="Safety Distance" abbrev="safe_dist" type="fp32_t">
      <description>
        Inter-vehicle safety distance.
      </description>
    </field>
    <field name="Deconfliction Offset" abbrev="deconflict_offset" type="fp32_t">
      <description>
        Distance offset which defines the buffer area beyond the safety distace.
      </description>
    </field>
    <field name="Acceleration Safety Margin" abbrev="accel_safe_margin" type="fp32_t">
      <description>
        Safety margin to compensate for possible shortfalls from the predicted maximum acceleration that a vehicle can generate.
      </description>
    </field>
    <field name="Maximum Longitudinal Acceleration" abbrev="accel_lim_x" type="fp32_t">
      <description>
        Maximum predicted longitudinal acceleration a vehicle can generate.
      </description>
    </field>
  </message>

  <message id="823" name="Formation Evaluation Data" abbrev="FormationEvaluation" category="Maneuvering">
    <description>
      Formation control performance evaluation variables.
    </description>
    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="FC">
      <description>
        Indicates if the message is a request, or a reply to a previous request.
      </description>
      <value id="0" name="Request" abbrev="REQUEST"/>
      <value id="1" name="Report" abbrev="REPORT"/>
    </field>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Operation to perform.
      </description>
      <value id="0" name="Start" abbrev="START">
        <description>
          Start the formation maneuver.
        </description>
      </value>
      <value id="1" name="Stop" abbrev="STOP">
        <description>
          Stop the formation maneuver.
        </description>
      </value>
      <value id="2" name="Ready" abbrev="READY">
        <description>
          Stop the formation maneuver.
        </description>
      </value>
      <value id="3" name="Executing" abbrev="EXECUTING">
        <description>
          Stop the formation maneuver.
        </description>
      </value>
      <value id="4" name="Failure" abbrev="FAILURE">
        <description>
          Stop the formation maneuver.
        </description>
      </value>
    </field>
    <field name="Mean Position Error" abbrev="err_mean" type="fp32_t">
      <description>
        Mean position error relative to the formation reference.
      </description>
    </field>
    <field name="Absolute Minimum Distance" abbrev="dist_min_abs" type="fp32_t">
      <description>
        Overall minimum distance to any other vehicle in the formation.
      </description>
    </field>
    <field name="Mean Minimum Distance" abbrev="dist_min_mean" type="fp32_t">
      <description>
        Mean minimum distance to any other vehicle in the formation.
      </description>
    </field>
    <field name="Mean Roll Rate" abbrev="roll_rate_mean" type="fp32_t">
      <description>
        Mean minimum distance to any other vehicle in the formation.
      </description>
    </field>
    <field name="Evaluation Time" abbrev="time" type="fp32_t">
      <description>
        Period over which the evaluation data is averaged.
      </description>
    </field>
    <field name="Formation Control Parameters" abbrev="ControlParams" type="message" message-type="FormationControlParams">
      <description>
        Formation controller paramenters during the evaluation period.
      </description>
    </field>
  </message>

  <message id="850" abbrev="SoiWaypoint" name="SOI Waypoint" category="Plan Supervision">
  	<field name="Latitude" abbrev="lat" type="fp32_t" unit="°"/>
  	<field name="Longitude" abbrev="lon" type="fp32_t" unit="°"/>
  	<field name="Time Of Arrival" abbrev="eta" type="uint32_t"/>
  	<field name="Duration" abbrev="duration" type="uint16_t" unit="s"/>
  </message>

  <message id="851" abbrev="SoiPlan" name="SOI Plan" category="Plan Supervision">
  	<field name="Plan Identifier" abbrev="plan_id" type="uint16_t"/>
  	<field name="Waypoints" abbrev="waypoints" type="message-list" message-type="SoiWaypoint"/>
  </message>

  <message id="852" abbrev="SoiCommand" name="SOI Command" category="Plan Supervision">
  	<field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="SOITYPE">
  	  <value abbrev="REQUEST" name="Request" id="1"/>
  	  <value abbrev="SUCCESS" name="Success" id="2"/>
  	  <value abbrev="ERROR" name="Error" id="3"/>
  	</field>
  	<field name="Command" abbrev="command" type="uint8_t" unit="Enumerated" prefix="SOICMD">
  	  <value abbrev="EXEC" name="Execute Plan" id="1"/>
  	  <value abbrev="STOP" name="Stop Execution" id="2"/>
  	  <value abbrev="SET_PARAMS" name="Set Parameters" id="3"/>
  	  <value abbrev="GET_PARAMS" name="Get Parameters" id="4"/>
  	  <value abbrev="GET_PLAN" name="Get Plan" id="5"/>
  	  <value abbrev="RESUME" name="Resume Execution" id="6"/>
  	</field>
  	<field name="Settings" abbrev="settings" type="plaintext" unit="TupleList"/>
  	<field name="Plan" abbrev="plan" type="message" message-type="SoiPlan"/>
  	<field name="Extra Information" abbrev="info" type="plaintext"/>
  </message>

  <message id="853" abbrev="SoiState" name="SOI State" category="Plan Supervision">
    <field name="State" abbrev="state" type="uint8_t" unit="Enumerated" prefix="SOISTATE">
     <value abbrev="EXEC" name="Executing" id="1"/>
     <value abbrev="IDLE" name="Idle" id="2"/>
     <value abbrev="INACTIVE" name="Inactive" id="3"/>
    </field>
    <field name="Plan Identifier" abbrev="plan_id" type="uint16_t"/>
    <field name="Waypoint Identifier" abbrev="wpt_id" type="uint8_t"/>
    <field name="Settings Checksum" abbrev="settings_chk" type="uint16_t"/>
  </message>

  <message id="877" abbrev="MessagePart" name="Message Fragment" category="Networking">
    <field name="Transmission Unique Id" abbrev="uid" type="uint8_t"/>
    <field name="Fragment Number" abbrev="frag_number" type="uint8_t"/>
    <field name="Total Number of fragments" abbrev="num_frags" type="uint8_t"/>
    <field name="Fragment Data" abbrev="data" type="rawdata"/>
  </message>

  <message id="888" abbrev="NeptusBlob" name="Neptus Blob" category="CCU">
    <field name="ContentType" abbrev="content_type" type="plaintext"/>
    <field name="Content" abbrev="content" type="rawdata"/>
  </message>

  <message id="889" name="Aborted" abbrev="Aborted" category="Plan Supervision">
    <description>
      This message signals that an :ref:`Abort` message was received and acted upon.
    </description>
  </message>

  <message id="890" name="USBL Angles" abbrev="UsblAngles" category="Acoustic Communication">
    <description>
      This message contains information, collected using USBL, about the
      bearing and elevation of a target.
    </description>
    <field name="Target" abbrev="target" type="uint16_t">
      <description>
        Target's IMC address.
      </description>
    </field>
    <field name="Bearing" abbrev="bearing" type="fp32_t" unit="rad">
      <description>
        Target's bearing.
      </description>
    </field>
    <field name="Elevation" abbrev="elevation" type="fp32_t" unit="rad">
      <description>
        Target's elevation.
      </description>
    </field>
  </message>

  <message id="891" name="USBL Position" abbrev="UsblPosition" category="Acoustic Communication">
    <description>
      This message contains information, collected using USBL, about a
      target's position.
    </description>
    <field name="Target" abbrev="target" type="uint16_t">
      <description>
        Target's IMC address.
      </description>
    </field>
    <field name="X" abbrev="x" type="fp32_t" unit="m">
      <description>
        X coordinate of the target in the local device's reference frame.
      </description>
    </field>
    <field name="Y" abbrev="y" type="fp32_t" unit="m">
      <description>
        Y coordinate of the target in the local device's reference frame.
      </description>
    </field>
    <field name="Z" abbrev="z" type="fp32_t" unit="m">
      <description>
        Z coordinate of the target in the local device's reference frame.
      </description>
    </field>
  </message>

  <message id="892" name="USBL Fix" abbrev="UsblFix" category="Acoustic Communication">
    <description>
      This message contains the WGS-84 position of a target computed using
      USBL.
    </description>
    <field name="Target" abbrev="target" type="uint16_t">
      <description>
        Target's IMC address.
      </description>
    </field>
    <field name="Latitude (WGS-84)" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude.
      </description>
    </field>
    <field name="Longitude (WGS-84)" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Target reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
  </message>

  <message id="893" name="Parameters XML" abbrev="ParametersXml" stable="false" category="Vehicle Supervision">
    <description>
      Message containing the parameters XML of the source system.
    </description>
    <field name="Locale" abbrev="locale" type="plaintext">
      <description>
        The locale used to produce this parameters XML.
      </description>
    </field>
    <field name="Configuration Data" abbrev="config" type="rawdata">
      <description>
        The parameters XML file compressed using the GNU zip (gzip) format.
      </description>
    </field>
  </message>

  <message id="894" name="Get Parameters XML" abbrev="GetParametersXml" stable="false" category="Vehicle Supervision">
    <description>
      Request the destination system to send its parameters XML file via a
      :ref:`ParametersXml` message.
    </description>
  </message>

  <message id="895" abbrev="SetImageCoords" name="Set Image Coordinates" category="Vision">
    <description>
      Message containing the x and y coordinates of object to track in remote peer.
    </description>
    <field name="Camera Identifier" abbrev="camId" type="uint8_t">
      <description>
        Camera identifier.
      </description>
    </field>
    <field name="X" abbrev="x" type="uint16_t" unit="px">
      <description>
        X coordinate of the target in the image frame.
      </description>
    </field>
    <field name="Y" abbrev="y" type="uint16_t" unit="px">
      <description>
        Y coordinate of the target in the image frame.
      </description>
    </field>
  </message>

  <message id="896" abbrev="GetImageCoords" name="Get Image Coordinates" category="Vision">
    <description>
      Message containing the x and y coordinates of object to track in image slave.
    </description>
    <field name="Camera Identifier" abbrev="camId" type="uint8_t">
      <description>
        Camera identifier.
      </description>
    </field>
    <field name="X" abbrev="x" type="uint16_t" unit="px">
      <description>
        X coordinate of the target in the image frame.
      </description>
    </field>
    <field name="Y" abbrev="y" type="uint16_t" unit="px">
      <description>
        Y coordinate of the target in the image frame.
      </description>
    </field>
  </message>

  <message id="897" abbrev="GetWorldCoordinates" name="Get World Coordinates" category="Vision">
    <description>
      Message containing the x, y and z coordinates of object in the real world.
    </description>
    <field name="Tracking" abbrev="tracking" type="uint8_t" unit="Enumerated" enum-def="Boolean">
      <description>
        True when system is tracking.
      </description>
    </field>
    <field name="Latitude" abbrev="lat" type="fp64_t" unit="rad">
      <description>
        Latitude of the real world frame origin.
      </description>
    </field>
    <field name="Longitude" abbrev="lon" type="fp64_t" unit="rad">
      <description>
        Longitude of the real world frame origin.
      </description>
    </field>
    <field name="X" abbrev="x" type="fp32_t" unit="m">
      <description>
        X offsets of the target in the real world frame.
      </description>
    </field>
    <field name="Y" abbrev="y" type="fp32_t" unit="m">
      <description>
        Y offsets of the target in the real world frame.
      </description>
    </field>
    <field name="Z" abbrev="z" type="fp32_t" unit="m">
      <description>
        Z offsets of the target in the real world frame.
      </description>
    </field>
  </message>

  <message id="898" name="USBL Angles Extended" abbrev="UsblAnglesExtended" category="Acoustic Communication">
    <description>
      This message contains information, collected using USBL, about the
      bearing and elevation of a target.
    </description>
    <field name="Target" abbrev="target" type="plaintext">
      <description>
        Target's system name.
      </description>
    </field>
    <field name="Local Bearing" abbrev="lbearing" type="fp32_t" unit="rad">
      <description>
        Target's bearing in the local device's reference frame.
      </description>
    </field>
    <field name="Local Elevation" abbrev="lelevation" type="fp32_t" unit="rad">
      <description>
        Target's elevation in the local device's reference frame.
      </description>
    </field>
    <field name="Bearing" abbrev="bearing" type="fp32_t" unit="rad">
      <description>
        Target's bearing in the navigation reference frame.
      </description>
    </field>
    <field name="Elevation" abbrev="elevation" type="fp32_t" unit="rad">
      <description>
        Target's elevation in the navigation reference frame.
      </description>
    </field>
    <field name="Roll Angle" abbrev="phi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        Rotation around the device longitudinal axis.
      </description>
    </field>
    <field name="Pitch Angle" abbrev="theta" type="fp32_t" unit="rad" min="-1.57079632679490" max="1.57079632679490">
      <description>
        Rotation around the device lateral or transverse axis.
      </description>
    </field>
    <field name="Yaw Angle" abbrev="psi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        Rotation around the device vertical axis.
      </description>
    </field>
    <field name="Accuracy" abbrev="accuracy" type="fp32_t" unit="rad" min="0" max="3.141592653589793">
      <description>
        Accuracy of the fix.
      </description>
    </field>
  </message>

  <message id="899" name="USBL Position Extended" abbrev="UsblPositionExtended" category="Acoustic Communication">
    <description>
      This message contains information, collected using USBL, about a
      target's position.
    </description>
    <field name="Target" abbrev="target" type="plaintext">
      <description>
        Target's system name.
      </description>
    </field>
    <field name="X" abbrev="x" type="fp32_t" unit="m">
      <description>
        X coordinate of the target in the local device's reference frame.
      </description>
    </field>
    <field name="Y" abbrev="y" type="fp32_t" unit="m">
      <description>
        Y coordinate of the target in the local device's reference frame.
      </description>
    </field>
    <field name="Z" abbrev="z" type="fp32_t" unit="m">
      <description>
        Z coordinate of the target in the local device's reference frame.
      </description>
    </field>
    <field name="N" abbrev="n" type="fp32_t" unit="m">
      <description>
        X coordinate of the target in the navigation reference frame.
      </description>
    </field>
    <field name="E" abbrev="e" type="fp32_t" unit="m">
      <description>
        Y coordinate of the target in the navigation reference frame.
      </description>
    </field>
    <field name="D" abbrev="d" type="fp32_t" unit="m">
      <description>
        Z coordinate of the target in the navigation reference frame.
      </description>
    </field>
    <field name="Roll Angle" abbrev="phi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        Rotation around the device longitudinal axis.
      </description>
    </field>
    <field name="Pitch Angle" abbrev="theta" type="fp32_t" unit="rad" min="-1.57079632679490" max="1.57079632679490">
      <description>
        Rotation around the device lateral or transverse axis.
      </description>
    </field>
    <field name="Yaw Angle" abbrev="psi" type="fp32_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        Rotation around the device vertical axis.
      </description>
    </field>
    <field name="Accuracy" abbrev="accuracy" type="fp32_t" unit="m" min="0">
      <description>
        Accuracy of the position fix.
      </description>
    </field>
  </message>

  <message id="900" name="USBL Fix Extended" abbrev="UsblFixExtended" category="Acoustic Communication">
    <description>
      This message contains the WGS-84 position of a target computed using
      USBL.
    </description>
    <field name="Target" abbrev="target" type="plaintext">
      <description>
        Target's system name.
      </description>
    </field>
    <field name="Latitude (WGS-84)" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude.
      </description>
    </field>
    <field name="Longitude (WGS-84)" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Target reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Accuracy" abbrev="accuracy" type="fp32_t" unit="m" min="0">
      <description>
        Accuracy of the position fix.
      </description>
    </field>
  </message>

  <message id="901" name="USBL Modem Configuration" abbrev="UsblModem" source="ccu,vehicle" category="Acoustic Communication">
    <description>
      Position and configuration of an Ultra-Short Base Line modem.
    </description>
    <field name="Modem Name" abbrev="name" type="plaintext">
      <description>
        Name/Label of the acoustic modem.
      </description>
    </field>
    <field name="Latitude WGS-84" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude coordinate.
      </description>
    </field>
    <field name="Longitude WGS-84" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude coordinate.
      </description>
    </field>
    <field name="Z Reference" abbrev="z" type="fp32_t" unit="m">
      <description>
        Target reference in the z axis. Use z_units to specify
        whether z represents depth, altitude or other.
      </description>
    </field>
    <field name="Z Units" abbrev="z_units" type="uint8_t" value="0" unit="Enumerated" enum-def="ZUnits">
      <description>
        Units of the z reference.
      </description>
    </field>
  </message>

  <message id="902" name="USBL Configuration" abbrev="UsblConfig" source="ccu,vehicle" category="Acoustic Communication">
    <description>
      Ultra-Short Base Line configuration.
    </description>
    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Used to define the type of the operation this message holds.
      </description>
      <value abbrev="SET_CFG" name="Set LBL Configuration" id="0">
        <description>Set the beacons configuration aboard the vehicle.</description>
      </value>
      <value abbrev="GET_CFG" name="Retrieve LBL Configuration" id="1">
        <description>Request the vehicle to send its current beacons configuration.</description>
      </value>
      <value abbrev="CUR_CFG" name="Reply to a GET command" id="2"></value>
    </field>
    <field name="Modems" abbrev="modems" type="message-list" message-type="UsblModem">
      <description>
        A list of USBL modem configuration messages.
      </description>
    </field>
  </message>

  <message id="903" name="Dissolved Organic Matter" abbrev="DissolvedOrganicMatter" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Dissolved Organic Matter measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="PPB">
      <description>
        Dissolved Organic Matter reading.
      </description>
    </field>
    <field name="Type of measurement" abbrev="type" type="uint8_t" unit="Enumerated" prefix="DT">
      <description>
    Type of measurement.
      </description>
      <value id="0" abbrev="COLORED" name="Colored"/>
      <value id="1" abbrev="FLUORESCENT" name="Fluorescent"/>
    </field>
  </message>

  <message id="904" name="Optical Backscattering Coefficient" abbrev="OpticalBackscatter" source="vehicle" flags="periodic" category="Sensors">
    <description>
      The optical backscattering coefficient refers to all the photons that have been redirected in the backward directions
      when a photon of light propagates in water and interacts with a "particle" (varying from water molecules to fish).
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="1/m">
      <description>
        Optical Backscattering Coefficient.
      </description>
    </field>
  </message>

  <message id="905" name="Tachograph" abbrev="Tachograph" source="vehicle" flags="periodic"  category="Vehicle Supervision">
    <description>
      This messages is used to record system activity parameters. These
      parameters are mainly used for used for maintenance purposes.
    </description>
    <field name="Last Service Timestamp" abbrev="timestamp_last_service" type="fp64_t" unit="s">
      <description>
        The time when the last service was performed. The number of
        seconds is represented in Universal Coordinated Time (UCT) in
        seconds since Jan 1, 1970.
      </description>
    </field>
    <field name="Time - Next Service" abbrev="time_next_service" type="fp32_t" unit="s">
      <description>
        Amount of time until the next recommended service.
      </description>
    </field>
    <field name="Time Motor - Next Service" abbrev="time_motor_next_service" type="fp32_t" unit="s">
      <description>
        Amount of time the motor can run until the next recommended service.
      </description>
    </field>
    <field name="Time Idle - Ground" abbrev="time_idle_ground" type="fp32_t" unit="s">
      <description>
        Amount of time the system spent idle on the ground.
      </description>
    </field>
    <field name="Time Idle - Air" abbrev="time_idle_air" type="fp32_t" unit="s">
      <description>
        Amount of time the system spent idle in the air.
      </description>
    </field>
    <field name="Time Idle - Water" abbrev="time_idle_water" type="fp32_t" unit="s">
      <description>
        Amount of time the system spent idle on the water (not submerged).
      </description>
    </field>
    <field name="Time Idle - Underwater" abbrev="time_idle_underwater" type="fp32_t" unit="s">
      <description>
        Amount of time the system spent idle underwater.
      </description>
    </field>
    <field name="Time Idle - Unknown" abbrev="time_idle_unknown" type="fp32_t" unit="s">
      <description>
        Amount of time the system spent idle in an unknown medium.
      </description>
    </field>
    <field name="Time Motor - Ground" abbrev="time_motor_ground" type="fp32_t" unit="s">
      <description>
        Amount of time the system spent on the ground with the motor running.
      </description>
    </field>
    <field name="Time Motor - Air" abbrev="time_motor_air" type="fp32_t" unit="s">
      <description>
        Amount of time the system spent in the air with the motor running.
      </description>
    </field>
    <field name="Time Motor - Water" abbrev="time_motor_water" type="fp32_t" unit="s">
      <description>
        Amount of time the system spent on the water (not submerged) with the motor running.
      </description>
    </field>
    <field name="Time Motor - Underwater" abbrev="time_motor_underwater" type="fp32_t" unit="s">
      <description>
        Amount of time the system spent underwater with the motor running.
      </description>
    </field>
    <field name="Time Motor - Unknown" abbrev="time_motor_unknown" type="fp32_t" unit="s">
      <description>
        Amount of time the system spent in an unknown medium with the motor running.
      </description>
    </field>
    <field name="Recorded RPMs - Minimum" abbrev="rpm_min" type="int16_t" unit="rpm">
      <description>
        The minimum recorded RPM value.
      </description>
    </field>
    <field name="Recorded RPMs - Maximum" abbrev="rpm_max" type="int16_t" unit="rpm">
      <description>
        The maximum recorded RPM value.
      </description>
    </field>
    <field name="Recorded Depth - Maximum" abbrev="depth_max" type="fp32_t" unit="m">
      <description>
        The maximum recorded depth value.
      </description>
    </field>
  </message>

  <message id="906" name="APM Status" abbrev="ApmStatus" source="vehicle" category="Vehicle Supervision">
    <description>
      StatusText message from ardupilot.
    </description>
    <field name="Severity" abbrev="severity" type="uint8_t" unit="Enumerated" prefix="APM">
      <description>
        Severity of status.
      </description>
      <value id="0" name="Emergency" abbrev="EMERGENCY"/>
      <value id="1" name="Alert" abbrev="ALERT"/>
      <value id="2" name="Critical" abbrev="CRITICAL"/>
      <value id="3" name="Error" abbrev="ERROR"/>
      <value id="4" name="Warning" abbrev="WARNING"/>
      <value id="5" name="Notice" abbrev="NOTICE"/>
      <value id="6" name="Info" abbrev="INFO"/>
      <value id="7" name="Debug" abbrev="DEBUG"/>
    </field>
    <field name="Text" abbrev="text" type="plaintext">
      <description>
        Status text message.
      </description>
    </field>
  </message>

  <message id="907" name="SADC Readings" abbrev="SadcReadings" source="vehicle" category="Sensors">
    <description>
      Readings from SADC board.
    </description>
    <field name="Channel" abbrev="channel" type="int8_t" min="1" max="4">
      <description>
        Channel of SADC to read.
      </description>
    </field>
    <field name="Value" abbrev="value" type="int32_t">
      <description>
        Value raw of sadc channel.
      </description>
    </field>
    <field name="Gain" abbrev="gain" type="uint8_t" unit="Enumerated" prefix="GAIN">
      <description>
        Gain value of readings.
      </description>
      <value id="0" name="x1" abbrev="X1"/>
      <value id="1" name="x10" abbrev="X10"/>
      <value id="2" name="x100" abbrev="X100"/>
    </field>
  </message>

  <message id="908" name="DMS Detection" abbrev="DmsDetection" source="vehicle" category="Sensors">
    <description>
      Presence of DMS (Dimethyl Sulphide).
      If the value of the channel is greater than zero, it means DMS was detected.
    </description>
    <field name="Channel 1" abbrev="ch01" type="fp32_t"/>
    <field name="Channel 2" abbrev="ch02" type="fp32_t"/>
    <field name="Channel 3" abbrev="ch03" type="fp32_t"/>
    <field name="Channel 4" abbrev="ch04" type="fp32_t"/>
    <field name="Channel 5" abbrev="ch05" type="fp32_t"/>
    <field name="Channel 6" abbrev="ch06" type="fp32_t"/>
    <field name="Channel 7" abbrev="ch07" type="fp32_t"/>
    <field name="Channel 8" abbrev="ch08" type="fp32_t"/>
    <field name="Channel 9" abbrev="ch09" type="fp32_t"/>
    <field name="Channel 10" abbrev="ch10" type="fp32_t"/>
    <field name="Channel 11" abbrev="ch11" type="fp32_t"/>
    <field name="Channel 12" abbrev="ch12" type="fp32_t"/>
    <field name="Channel 13" abbrev="ch13" type="fp32_t"/>
    <field name="Channel 14" abbrev="ch14" type="fp32_t"/>
    <field name="Channel 15" abbrev="ch15" type="fp32_t"/>
    <field name="Channel 16" abbrev="ch16" type="fp32_t"/>
  </message>
  
  <message id="909" name="Home Position" abbrev="HomePosition" source="vehicle,ccu" category="Core">
    <description>
      Vehicle Home Position.
    </description>
    <field name="Action on the vehicle home position" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
      <description>
        Action on the vehicle home
      </description>
      <value id="1" name="Set" abbrev="SET"/>
      <value id="2" name="Report" abbrev="REPORT"/>
    </field>
    <field name="Latitude (WGS-84)" abbrev="lat" type="fp64_t" unit="rad" min="-1.5707963267948966" max="1.5707963267948966">
      <description>
        WGS-84 Latitude.
      </description>
    </field>
    <field name="Longitude (WGS-84)" abbrev="lon" type="fp64_t" unit="rad" min="-3.141592653589793" max="3.141592653589793">
      <description>
        WGS-84 Longitude.
      </description>
    </field>
    <field name="Height (WGS-84)" abbrev="height" type="fp32_t" unit="m">
      <description>
        Height above the WGS-84 ellipsoid.
      </description>
    </field>
    <field name="Depth" abbrev="depth" type="fp32_t" unit="m">
      <description>
        Depth, in meters. To be used by underwater vehicles. Negative
        values denote invalid estimates.
      </description>
    </field>
    <field name="Altitude" abbrev="alt" type="fp32_t" unit="m">
      <description>
        Altitude, in meters. Negative values denote invalid estimates.
      </description>
    </field>
   </message>
  
  <message id="1014" name="Current Profile" abbrev="CurrentProfile" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Contains a profile of water velocities measured relative to the vehicle
      velocity, represented in the specified coordinate system.
    </description>
    <field name="Number of Beams" abbrev="nbeams" type="uint8_t">
      <description>
        Number of ADCP beams.
      </description>
    </field>
    <field name="Number of Cells" abbrev="ncells" type="uint8_t">
      <description>
        Number of ADCP cells.
      </description>
    </field>
    <field name="Coordinate System" abbrev="coord_sys" type="uint8_t" unit="Bitfield" prefix="UTF">
      <description>
        Coordinate system of the velocity measurement.
      </description>
      <value abbrev="XYZ" name="xyz" id="0x01"/>
      <value abbrev="NED" name="ned" id="0x02"/>
      <value abbrev="BEAMS" name="beams" id="0x04"/>
    </field>
    <field name="Profile" abbrev="profile" type="message-list" message-type="CurrentProfileCell">
      <description>
        List of current profile measurement cells.
      </description>
    </field>
  </message>

  <message id="1015" name="Current Profile Cell" abbrev="CurrentProfileCell" source="vehicle" flags="periodic" category="Sensors">
    <description>
      One Current measurement at a specific CellPosition.
    </description>
    <field name="Cell Position" abbrev="cell_position" type="fp32_t" unit="m">
      <description>
        Distance of each measurment cell along the Z-axis in the coordintate frame.
      </description>
    </field>
    <field name="Beams Measurements" abbrev="beams" type="message-list" message-type="ADCPBeam">
      <description>
        List of beams measurements at the current cell level.
      </description>
    </field>
  </message>

  <message id="1016" name="ADCP Beam Measurements" abbrev="ADCPBeam" source="vehicle" flags="periodic" category="Sensors">
    <description>
      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.
    </description>
    <field name="Water Velocity" abbrev="vel" type="fp32_t" unit="m/s">
      <description>
        Water velocity measured in the chosen coordinate system.
      </description>
    </field>
    <field name="Amplitude" abbrev="amp" type="fp32_t" unit="dB">
      <description>
        Amplitude of returning ping for the beam.
      </description>
    </field>
    <field name="Correlation" abbrev="cor" type="uint8_t" unit="%" max="100" min="0">
      <description>
        Autocorrelation of returning ping for the beam.
      </description>
    </field>
  </message>

  <message id="2000" name="GPIO State" abbrev="GpioState" source="vehicle" category="Actuation">
    <description>
      Current state of a GPIO.
    </description>
    <field name="Name" abbrev="name" type="plaintext">
      <description>
        GPIO Name.
      </description>
    </field>
    <field name="Value" abbrev="value" type="uint8_t">
      <description>
        Logical level of the GPIO.
      </description>
    </field>
  </message>

  <message id="2001" name="Get GPIO State" abbrev="GpioStateGet" source="vehicle" category="Actuation">
    <description>
      Request the state of a given GPIO. The receiving entity shall reply
      with a GpioState message.
    </description>
    <field name="Name" abbrev="name" type="plaintext">
      <description>
        GPIO Name.
      </description>
    </field>
  </message>

  <message id="2002" name="Set GPIO State" abbrev="GpioStateSet" source="vehicle" category="Actuation">
    <description>
      Set the state of a given GPIO. The receiving entity shall reply
      with a GpioState message.
    </description>
    <field name="Name" abbrev="name" type="plaintext">
      <description>
        GPIO Name.
      </description>
    </field>
    <field name="Value" abbrev="value" type="uint8_t">
      <description>
        Logical level of the GPIO.
      </description>
    </field>
  </message>

  <message id="2003" name="Colored Dissolved Organic Matter" abbrev="ColoredDissolvedOrganicMatter" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Colored Dissolved Organic Matter measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="PPB">
      <description>
        Colored Dissolved Organic Matter reading.
      </description>
    </field>
  </message>

  <message id="2004" name="Fluorescent Dissolved Organic Matter" abbrev="FluorescentDissolvedOrganicMatter" source="vehicle" flags="periodic" category="Sensors">
    <description>
      Fluorescent Dissolved Organic Matter measurement.
    </description>
    <field name="Value" abbrev="value" type="fp32_t" unit="PPB">
      <description>
        Fluorescent Dissolved Organic Matter reading.
      </description>
    </field>
  </message>
  <message id="2006" name="Total Magnetic Field Intensity" abbrev="TotalMagIntensity" source="vehicle" category="Sensors">
    <field name="Value" abbrev="value" type="fp64_t">
      <description>Total Magnetic Field Intensity (TMI)</description>
    </field>
  </message>

  <message id="2010" name="Communication Restriction" abbrev="CommRestriction" source="ccu,vehicle" category="Networking">
    <description>This message is used to restrict the vehicle from using some communication means.</description>
    <field name="Restricted Communication Means" abbrev="restriction" type="uint8_t" unit="Bitfield" prefix="MEAN">
      <description>The restricted communication means.</description>
      <value abbrev="SATELLITE" name="Satellite" id="0x01" />
      <value abbrev="ACOUSTIC" name="Acoustic" id="0x02" />
      <value abbrev="WIFI" name="WiFi" id="0x04" />
      <value abbrev="GSM" name="GSM" id="0x08" />
    </field>
    <field name="Reason" abbrev="reason" type="plaintext">
      <description>Textual description for why this restriction is needed.</description>
    </field>
  </message>

</messages>