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Home / Iop_v2ServiceSet / SetCommsLostPolicy

Message SetCommsLostPolicy

Message ID: C401h

Description:
This message is used to set the active behavior for a comms-lost event for the platform. A comms-lost event is defined as the loss of communications with the controlling client for more than CommsLostTimeout seconds. Behaviors supported are: stop, continue on mission, move to a given position at a specified speed, or perform retrotraverse. Note that in the case of retrotraverse, behavior is assumed to be iterative; that is, the platform will repeatedly execute a retrotraverse of the specified distance until communications are re-established. In the case of move to a given position, the overall maximum distance to move in an effort to restore communications can be further restricted.

SetCommsLostPolicy
PolicyRec
CommsLostSeq
CommsLostDetectionRec
CommsLostPolicyVar
CommsRegainedSeq
CommsRegainedRec

Message Format
Field # Field Type Units Optional Interpretation
1 PolicyRec Record false
2 CommsLostSeq Record false
3 CommsRegainedSeq Record false


PolicyRec
Field # Field Type Units Optional Interpretation
1 Local_ID Unsigned Byte units one false A request identifier that will be returned in the response message. This field allows the client to coordinate requests and responses.


CommsLostSeq
Field # Field Type Units Optional Interpretation
1 CommsLostDetectionRec Record false
2 CommsLostPolicyVar Variant varies false


CommsLostDetectionRec
Field # Field Type Units Optional Interpretation
1 CommsLostTimeout Unsigned Short units second false Number of seconds of no contact after which communication is considered lost and the policy is initiated.


CommsLostPolicyVar
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 StopMotionVar Record false
1 ContinueMissionVar Record false
2 MoveToPosSeq Record false
3 RetrotraverseParameterSeq Record false


StopMotionVar
Field # Field Type Units Optional Interpretation
1 StopMotion Unsigned Byte units one false This field shall be zero. It is reserved for future use.


ContinueMissionVar
Field # Field Type Units Optional Interpretation
1 ContinueMission Unsigned Byte units one false This field shall be zero. It is reserved for future use.


MoveToPosSeq
Field # Field Type Units Optional Interpretation
1 GlobalWaypointRec Record false
2 TravelSpeedRec Record false
3 MaxDistanceRec Record false


GlobalWaypointRec
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: Altitude
Bit 1: Roll
Bit 2: Pitch
Bit 3: Yaw
Bit 4: WaypointTolerance
Bit 5: PathTolerance
2 Latitude Scaled Integer
Integer Size: Unsigned Integer
units degrees false Real Lower Limit: -90.0
Real Upper Limit: 90.0
3 Longitude Scaled Integer
Integer Size: Unsigned Integer
units degrees false Real Lower Limit: -180.0
Real Upper Limit: 180.0
4 Altitude Scaled Integer
Integer Size: Unsigned Integer
units meter true Real Lower Limit: -10000.0
Real Upper Limit: 35000.0
5 Roll Scaled Integer
Integer Size: Unsigned Short
units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
6 Pitch Scaled Integer
Integer Size: Unsigned Short
units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
7 Yaw Scaled Integer
Integer Size: Unsigned Short
units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
8 WaypointTolerance Scaled Integer
Integer Size: Unsigned Short
units meter true Real Lower Limit: 0.0
Real Upper Limit: 100.0
9 PathTolerance Scaled Integer
Integer Size: Unsigned Integer
units meter true Real Lower Limit: 0.0
Real Upper Limit: 100000.0


TravelSpeedRec
Field # Field Type Units Optional Interpretation
1 Speed Scaled Integer
Integer Size: Unsigned Short
units meters per second false Real Lower Limit: 0.0
Real Upper Limit: 327.67


MaxDistanceRec
Field # Field Type Units Optional Interpretation
1 MaxDistance Scaled Integer
Integer Size: Unsigned Integer
units meter false The maximum distance to travel while trying to regain comms. Once this distance has been traversed the vehicle will stop. A value of 0 means no limit.

Real Lower Limit: 0.0
Real Upper Limit: 1000000.0


RetrotraverseParameterSeq
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: GlobalWaypointRec
2 RetrotraverseActionRec Record false
3 GlobalWaypointRec Record true


RetrotraverseActionRec
Field # Field Type Units Optional Interpretation
1 Distance Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: 0.0
Real Upper Limit: 1000000.0
2 MaxSpeed Scaled Integer
Integer Size: Unsigned Short
units meters per second false Real Lower Limit: 0.0
Real Upper Limit: 327.67
3 Parameters BitField
Integer Size: Unsigned Byte
one false 0: TravelMethod
1: Direction
4 StandoffDistance Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: 0.0
Real Upper Limit: 100000.0


GlobalWaypointRec
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: Altitude
Bit 1: Roll
Bit 2: Pitch
Bit 3: Yaw
Bit 4: WaypointTolerance
Bit 5: PathTolerance
2 Latitude Scaled Integer
Integer Size: Unsigned Integer
units degrees false Real Lower Limit: -90.0
Real Upper Limit: 90.0
3 Longitude Scaled Integer
Integer Size: Unsigned Integer
units degrees false Real Lower Limit: -180.0
Real Upper Limit: 180.0
4 Altitude Scaled Integer
Integer Size: Unsigned Integer
units meter true Real Lower Limit: -10000.0
Real Upper Limit: 35000.0
5 Roll Scaled Integer
Integer Size: Unsigned Short
units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
6 Pitch Scaled Integer
Integer Size: Unsigned Short
units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
7 Yaw Scaled Integer
Integer Size: Unsigned Short
units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
8 WaypointTolerance Scaled Integer
Integer Size: Unsigned Short
units meter true Real Lower Limit: 0.0
Real Upper Limit: 100.0
9 PathTolerance Scaled Integer
Integer Size: Unsigned Integer
units meter true Real Lower Limit: 0.0
Real Upper Limit: 100000.0


CommsRegainedSeq
Field # Field Type Units Optional Interpretation
1 CommsRegainedRec Record false


CommsRegainedRec
Field # Field Type Units Optional Interpretation
1 CommsRegainedTimeout Unsigned Short units second false Number of seconds of communication with previous controlling client to consider communications regained.
2 CommsRegainedBehavior Enumeration
Integer Size: Unsigned Byte
one false Enumeration Values:
0: DoNothing
1: StopMotion



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