lanyard.flight.VehicleState.1.0¶
Consolidated vehicle state, published by the flight controller at 50 Hz.
| Full name | lanyard.flight.VehicleState |
| Version | 1.0 |
| Kind | Message |
| Fixed port ID | 6210 |
| Least supported transport | CAN FD |
Wire layout¶
| Section | Extent (bytes) | Max serialized (bytes) |
|---|---|---|
| Message | 128 | 49 |
A sealed type reports its extent as its exact serialised size; a delimited type reports the declared @extent, which bounds what a reader must be prepared to receive.
Definition¶
# Consolidated vehicle state, published by the flight controller at 50
# Hz.
#
# LEAST SUPPORTED TRANSPORT: CAN FD.
#
# WHY DELIMITED: this is the definition most likely to acquire new
# fields as the airframe evolves, and it is consumed by a wide
# population of nodes that are updated on their own schedules. The
# @extent below reserves wire space so that a future minor version may
# append fields; a reader built against 1.0 will decode the fields it
# knows and skip the rest instead of failing.
#
# Compare EscStatus.1.0, which makes the opposite trade: sealed,
# minimal, and frozen forever.
#
# See VehicleState.1.1 for a non-breaking extension of this definition,
# and VehicleState.2.0 for a breaking one.
uavcan.time.SynchronizedTimestamp.1.0 timestamp
# The network-synchronized moment this state estimate is valid for.
# Reusing the standard timestamp type rather than declaring a local
# uint64 is what allows a receiver to correlate this message with
# samples from any other node on the bus without knowing anything about
# this vendor's definitions.
lanyard.flight.FlightMode.1.0 mode
# The active flight mode.
uavcan.si.unit.angle.Quaternion.1.0 orientation_ned
# Vehicle attitude as a unit quaternion in the North-East-Down reference
# frame.
uavcan.si.unit.angular_velocity.Vector3.1.0 angular_velocity
# Body-frame roll, pitch, and yaw rates in radians per second.
uavcan.si.unit.velocity.Vector3.1.0 velocity_ned
# Velocity over ground in the North-East-Down frame, in meters per
# second.
bool armed
# True when the propulsion system is energized and will respond to
# throttle commands.
void7
# Padding to a byte boundary.
@extent 128 * 8
# Roughly 50 bytes are in use; the remainder is the growth budget for
# future 1.x minor versions.Generated code¶
Declaration excerpts only -- the serialisation bodies are omitted for length. Build the showroom target for the complete output in every language and profile.
C¶
/* Consolidated vehicle state, published by the flight controller at 50 */
/* Hz. */
/* */
/* LEAST SUPPORTED TRANSPORT: CAN FD. */
/* */
/* WHY DELIMITED: this is the definition most likely to acquire new */
/* fields as the airframe evolves, and it is consumed by a wide */
/* population of nodes that are updated on their own schedules. The */
/* @extent below reserves wire space so that a future minor version may */
/* append fields; a reader built against 1.0 will decode the fields it */
/* knows and skip the rest instead of failing. */
/* */
/* Compare EscStatus.1.0, which makes the opposite trade: sealed, */
/* minimal, and frozen forever. */
/* */
/* See VehicleState.1.1 for a non-breaking extension of this definition, */
/* and VehicleState.2.0 for a breaking one. */
typedef struct lanyard__flight__VehicleState_1_0 {
/* The network-synchronized moment this state estimate is valid for. */
/* Reusing the standard timestamp type rather than declaring a local */
/* uint64 is what allows a receiver to correlate this message with */
/* samples from any other node on the bus without knowing anything about */
/* this vendor's definitions. */
struct uavcan__time__SynchronizedTimestamp_1_0 timestamp;
/* The active flight mode. */
struct lanyard__flight__FlightMode_1_0 mode;
/* Vehicle attitude as a unit quaternion in the North-East-Down reference */
/* frame. */
struct uavcan__si__unit__angle__Quaternion_1_0 orientation_ned;
/* Body-frame roll, pitch, and yaw rates in radians per second. */
struct uavcan__si__unit__angular_velocity__Vector3_1_0 angular_velocity;
/* Velocity over ground in the North-East-Down frame, in meters per */
/* second. */
struct uavcan__si__unit__velocity__Vector3_1_0 velocity_ned;
/* True when the propulsion system is energized and will respond to */
/* throttle commands. */
bool armed;
} lanyard__flight__VehicleState_1_0;C++ (std)¶
// Consolidated vehicle state, published by the flight controller at 50
// Hz.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// WHY DELIMITED: this is the definition most likely to acquire new
// fields as the airframe evolves, and it is consumed by a wide
// population of nodes that are updated on their own schedules. The
// @extent below reserves wire space so that a future minor version may
// append fields; a reader built against 1.0 will decode the fields it
// knows and skip the rest instead of failing.
//
// Compare EscStatus.1.0, which makes the opposite trade: sealed,
// minimal, and frozen forever.
//
// See VehicleState.1.1 for a non-breaking extension of this definition,
// and VehicleState.2.0 for a breaking one.
struct VehicleState_1_0 {
// The network-synchronized moment this state estimate is valid for.
// Reusing the standard timestamp type rather than declaring a local
// uint64 is what allows a receiver to correlate this message with
// samples from any other node on the bus without knowing anything about
// this vendor's definitions.
::uavcan::time::SynchronizedTimestamp_1_0 timestamp{};
// The active flight mode.
::lanyard::flight::FlightMode_1_0 mode{};
// Vehicle attitude as a unit quaternion in the North-East-Down reference
// frame.
::uavcan::si::unit::angle::Quaternion_1_0 orientation_ned{};
// Body-frame roll, pitch, and yaw rates in radians per second.
::uavcan::si::unit::angular_velocity::Vector3_1_0 angular_velocity{};
// Velocity over ground in the North-East-Down frame, in meters per
// second.
::uavcan::si::unit::velocity::Vector3_1_0 velocity_ned{};
// True when the propulsion system is energized and will respond to
// throttle commands.
bool armed{};
static constexpr const char* FULL_NAME = "lanyard.flight.VehicleState";
static constexpr bool IS_DEPRECATED = false;
static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.flight.VehicleState.1.0";
static constexpr std::size_t EXTENT_BYTES = 128U;
static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 49U;
static constexpr bool WIRE_FLAT = false;
static constexpr const char* WIRE_FLAT_REASON = "sub-byte-field";
static constexpr bool HOST_IMAGE = false;
static constexpr const char* HOST_IMAGE_REASON = "sub-byte-field";
static constexpr bool HAS_FIXED_PORT_ID = true;
static constexpr std::uint16_t FIXED_PORT_ID = 6210U;
LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
return VehicleState_1_0_serialize_(this, buffer, inout_buffer_size_bytes);
}
LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
return VehicleState_1_0_deserialize_(this, buffer, inout_buffer_size_bytes);
}
};C++ (pmr)¶
Polymorphic-allocator profile: variable-length fields route through std::pmr.
// Consolidated vehicle state, published by the flight controller at 50
// Hz.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// WHY DELIMITED: this is the definition most likely to acquire new
// fields as the airframe evolves, and it is consumed by a wide
// population of nodes that are updated on their own schedules. The
// @extent below reserves wire space so that a future minor version may
// append fields; a reader built against 1.0 will decode the fields it
// knows and skip the rest instead of failing.
//
// Compare EscStatus.1.0, which makes the opposite trade: sealed,
// minimal, and frozen forever.
//
// See VehicleState.1.1 for a non-breaking extension of this definition,
// and VehicleState.2.0 for a breaking one.
struct VehicleState_1_0 {
// The network-synchronized moment this state estimate is valid for.
// Reusing the standard timestamp type rather than declaring a local
// uint64 is what allows a receiver to correlate this message with
// samples from any other node on the bus without knowing anything about
// this vendor's definitions.
::uavcan::time::SynchronizedTimestamp_1_0 timestamp{};
// The active flight mode.
::lanyard::flight::FlightMode_1_0 mode{};
// Vehicle attitude as a unit quaternion in the North-East-Down reference
// frame.
::uavcan::si::unit::angle::Quaternion_1_0 orientation_ned{};
// Body-frame roll, pitch, and yaw rates in radians per second.
::uavcan::si::unit::angular_velocity::Vector3_1_0 angular_velocity{};
// Velocity over ground in the North-East-Down frame, in meters per
// second.
::uavcan::si::unit::velocity::Vector3_1_0 velocity_ned{};
// True when the propulsion system is energized and will respond to
// throttle commands.
bool armed{};
::llvmdsdl::cpp::MemoryResource* _memory_resource{::llvmdsdl::cpp::default_memory_resource()};
VehicleState_1_0() = default;
explicit VehicleState_1_0(::llvmdsdl::cpp::MemoryResource* memory_resource) { set_memory_resource(memory_resource); }
void set_memory_resource(::llvmdsdl::cpp::MemoryResource* memory_resource) {
_memory_resource = (memory_resource != nullptr) ? memory_resource : ::llvmdsdl::cpp::default_memory_resource();
timestamp.set_memory_resource(_memory_resource);
mode.set_memory_resource(_memory_resource);
orientation_ned.set_memory_resource(_memory_resource);
angular_velocity.set_memory_resource(_memory_resource);
velocity_ned.set_memory_resource(_memory_resource);
}
static constexpr const char* FULL_NAME = "lanyard.flight.VehicleState";
static constexpr bool IS_DEPRECATED = false;
static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.flight.VehicleState.1.0";
static constexpr std::size_t EXTENT_BYTES = 128U;
static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 49U;
static constexpr bool WIRE_FLAT = false;
static constexpr const char* WIRE_FLAT_REASON = "sub-byte-field";
static constexpr bool HOST_IMAGE = false;
static constexpr const char* HOST_IMAGE_REASON = "sub-byte-field";
static constexpr bool HAS_FIXED_PORT_ID = true;
static constexpr std::uint16_t FIXED_PORT_ID = 6210U;
LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
return VehicleState_1_0_serialize_(this, buffer, inout_buffer_size_bytes, _memory_resource);
}
LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
return VehicleState_1_0_deserialize_(this, buffer, inout_buffer_size_bytes, _memory_resource);
}
LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes, ::llvmdsdl::cpp::MemoryResource* memory_resource) const {
return VehicleState_1_0_serialize_(this, buffer, inout_buffer_size_bytes, memory_resource);
}
LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes, ::llvmdsdl::cpp::MemoryResource* memory_resource) {
return VehicleState_1_0_deserialize_(this, buffer, inout_buffer_size_bytes, memory_resource);
}
};C++ (autosar)¶
AUTOSAR C++14 subset profile.
// Consolidated vehicle state, published by the flight controller at 50
// Hz.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// WHY DELIMITED: this is the definition most likely to acquire new
// fields as the airframe evolves, and it is consumed by a wide
// population of nodes that are updated on their own schedules. The
// @extent below reserves wire space so that a future minor version may
// append fields; a reader built against 1.0 will decode the fields it
// knows and skip the rest instead of failing.
//
// Compare EscStatus.1.0, which makes the opposite trade: sealed,
// minimal, and frozen forever.
//
// See VehicleState.1.1 for a non-breaking extension of this definition,
// and VehicleState.2.0 for a breaking one.
struct VehicleState_1_0 {
// The network-synchronized moment this state estimate is valid for.
// Reusing the standard timestamp type rather than declaring a local
// uint64 is what allows a receiver to correlate this message with
// samples from any other node on the bus without knowing anything about
// this vendor's definitions.
::uavcan::time::SynchronizedTimestamp_1_0 timestamp{};
// The active flight mode.
::lanyard::flight::FlightMode_1_0 mode{};
// Vehicle attitude as a unit quaternion in the North-East-Down reference
// frame.
::uavcan::si::unit::angle::Quaternion_1_0 orientation_ned{};
// Body-frame roll, pitch, and yaw rates in radians per second.
::uavcan::si::unit::angular_velocity::Vector3_1_0 angular_velocity{};
// Velocity over ground in the North-East-Down frame, in meters per
// second.
::uavcan::si::unit::velocity::Vector3_1_0 velocity_ned{};
// True when the propulsion system is energized and will respond to
// throttle commands.
bool armed{};
static constexpr const char* FULL_NAME = "lanyard.flight.VehicleState";
static constexpr bool IS_DEPRECATED = false;
static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.flight.VehicleState.1.0";
static constexpr std::size_t EXTENT_BYTES = 128U;
static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 49U;
static constexpr bool WIRE_FLAT = false;
static constexpr const char* WIRE_FLAT_REASON = "sub-byte-field";
static constexpr bool HOST_IMAGE = false;
static constexpr const char* HOST_IMAGE_REASON = "sub-byte-field";
static constexpr bool HAS_FIXED_PORT_ID = true;
static constexpr std::uint16_t FIXED_PORT_ID = 6210U;
LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
return VehicleState_1_0_serialize_(this, buffer, inout_buffer_size_bytes);
}
LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
return VehicleState_1_0_deserialize_(this, buffer, inout_buffer_size_bytes);
}
};Rust (std)¶
/// Consolidated vehicle state, published by the flight controller at 50
/// Hz.
///
/// LEAST SUPPORTED TRANSPORT: CAN FD.
///
/// WHY DELIMITED: this is the definition most likely to acquire new
/// fields as the airframe evolves, and it is consumed by a wide
/// population of nodes that are updated on their own schedules. The
/// @extent below reserves wire space so that a future minor version may
/// append fields; a reader built against 1.0 will decode the fields it
/// knows and skip the rest instead of failing.
///
/// Compare EscStatus.1.0, which makes the opposite trade: sealed,
/// minimal, and frozen forever.
///
/// See VehicleState.1.1 for a non-breaking extension of this definition,
/// and VehicleState.2.0 for a breaking one.
#[derive(Clone, Debug, PartialEq)]
pub struct lanyard_flight_VehicleState_1_0 {
/// The network-synchronized moment this state estimate is valid for.
/// Reusing the standard timestamp type rather than declaring a local
/// uint64 is what allows a receiver to correlate this message with
/// samples from any other node on the bus without knowing anything about
/// this vendor's definitions.
pub timestamp: uavcan_time_SynchronizedTimestamp_1_0,
/// The active flight mode.
pub mode: lanyard_flight_FlightMode_1_0,
/// Vehicle attitude as a unit quaternion in the North-East-Down reference
/// frame.
pub orientation_ned: uavcan_si_unit_angle_Quaternion_1_0,
/// Body-frame roll, pitch, and yaw rates in radians per second.
pub angular_velocity: uavcan_si_unit_angular_velocity_Vector3_1_0,
/// Velocity over ground in the North-East-Down frame, in meters per
/// second.
pub velocity_ned: uavcan_si_unit_velocity_Vector3_1_0,
/// True when the propulsion system is energized and will respond to
/// throttle commands.
pub armed: bool,
}Rust (no-std)¶
no_std + alloc profile, as a flight-controller firmware build would use.
/// Consolidated vehicle state, published by the flight controller at 50
/// Hz.
///
/// LEAST SUPPORTED TRANSPORT: CAN FD.
///
/// WHY DELIMITED: this is the definition most likely to acquire new
/// fields as the airframe evolves, and it is consumed by a wide
/// population of nodes that are updated on their own schedules. The
/// @extent below reserves wire space so that a future minor version may
/// append fields; a reader built against 1.0 will decode the fields it
/// knows and skip the rest instead of failing.
///
/// Compare EscStatus.1.0, which makes the opposite trade: sealed,
/// minimal, and frozen forever.
///
/// See VehicleState.1.1 for a non-breaking extension of this definition,
/// and VehicleState.2.0 for a breaking one.
#[derive(Clone, Debug, PartialEq)]
pub struct lanyard_flight_VehicleState_1_0 {
/// The network-synchronized moment this state estimate is valid for.
/// Reusing the standard timestamp type rather than declaring a local
/// uint64 is what allows a receiver to correlate this message with
/// samples from any other node on the bus without knowing anything about
/// this vendor's definitions.
pub timestamp: uavcan_time_SynchronizedTimestamp_1_0,
/// The active flight mode.
pub mode: lanyard_flight_FlightMode_1_0,
/// Vehicle attitude as a unit quaternion in the North-East-Down reference
/// frame.
pub orientation_ned: uavcan_si_unit_angle_Quaternion_1_0,
/// Body-frame roll, pitch, and yaw rates in radians per second.
pub angular_velocity: uavcan_si_unit_angular_velocity_Vector3_1_0,
/// Velocity over ground in the North-East-Down frame, in meters per
/// second.
pub velocity_ned: uavcan_si_unit_velocity_Vector3_1_0,
/// True when the propulsion system is energized and will respond to
/// throttle commands.
pub armed: bool,
}Go¶
// Consolidated vehicle state, published by the flight controller at 50
// Hz.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// WHY DELIMITED: this is the definition most likely to acquire new
// fields as the airframe evolves, and it is consumed by a wide
// population of nodes that are updated on their own schedules. The
// @extent below reserves wire space so that a future minor version may
// append fields; a reader built against 1.0 will decode the fields it
// knows and skip the rest instead of failing.
//
// Compare EscStatus.1.0, which makes the opposite trade: sealed,
// minimal, and frozen forever.
//
// See VehicleState.1.1 for a non-breaking extension of this definition,
// and VehicleState.2.0 for a breaking one.
type VehicleState_1_0 struct {
// The network-synchronized moment this state estimate is valid for.
// Reusing the standard timestamp type rather than declaring a local
// uint64 is what allows a receiver to correlate this message with
// samples from any other node on the bus without knowing anything about
// this vendor's definitions.
Timestamp pkg_uavcan_time.SynchronizedTimestamp_1_0
// The active flight mode.
Mode FlightMode_1_0
// Vehicle attitude as a unit quaternion in the North-East-Down reference
// frame.
OrientationNed pkg_uavcan_si_unit_angle.Quaternion_1_0
// Body-frame roll, pitch, and yaw rates in radians per second.
AngularVelocity pkg_uavcan_si_unit_angular_velocity.Vector3_1_0
// Velocity over ground in the North-East-Down frame, in meters per
// second.
VelocityNed pkg_uavcan_si_unit_velocity.Vector3_1_0
// True when the propulsion system is energized and will respond to
// throttle commands.
Armed bool
}TypeScript¶
// Consolidated vehicle state, published by the flight controller at 50
// Hz.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// WHY DELIMITED: this is the definition most likely to acquire new
// fields as the airframe evolves, and it is consumed by a wide
// population of nodes that are updated on their own schedules. The
// @extent below reserves wire space so that a future minor version may
// append fields; a reader built against 1.0 will decode the fields it
// knows and skip the rest instead of failing.
//
// Compare EscStatus.1.0, which makes the opposite trade: sealed,
// minimal, and frozen forever.
//
// See VehicleState.1.1 for a non-breaking extension of this definition,
// and VehicleState.2.0 for a breaking one.
export interface VehicleState_1_0 {
// The network-synchronized moment this state estimate is valid for.
// Reusing the standard timestamp type rather than declaring a local
// uint64 is what allows a receiver to correlate this message with
// samples from any other node on the bus without knowing anything about
// this vendor's definitions.
timestamp: SynchronizedTimestamp_1_0;
// The active flight mode.
mode: FlightMode_1_0;
// Vehicle attitude as a unit quaternion in the North-East-Down reference
// frame.
orientation_ned: Quaternion_1_0;
// Body-frame roll, pitch, and yaw rates in radians per second.
angular_velocity: Vector3_1_0__uavcan_si_unit_angular_velocity;
// Velocity over ground in the North-East-Down frame, in meters per
// second.
velocity_ned: Vector3_1_0__uavcan_si_unit_velocity;
// True when the propulsion system is energized and will respond to
// throttle commands.
armed: boolean;
}Python¶
# Consolidated vehicle state, published by the flight controller at 50
# Hz.
#
# LEAST SUPPORTED TRANSPORT: CAN FD.
#
# WHY DELIMITED: this is the definition most likely to acquire new
# fields as the airframe evolves, and it is consumed by a wide
# population of nodes that are updated on their own schedules. The
# @extent below reserves wire space so that a future minor version may
# append fields; a reader built against 1.0 will decode the fields it
# knows and skip the rest instead of failing.
#
# Compare EscStatus.1.0, which makes the opposite trade: sealed,
# minimal, and frozen forever.
#
# See VehicleState.1.1 for a non-breaking extension of this definition,
# and VehicleState.2.0 for a breaking one.
@dataclass(slots=True)
class VehicleState_1_0:
# The network-synchronized moment this state estimate is valid for.
# Reusing the standard timestamp type rather than declaring a local
# uint64 is what allows a receiver to correlate this message with
# samples from any other node on the bus without knowing anything about
# this vendor's definitions.
timestamp: SynchronizedTimestamp_1_0 = field(default_factory=lambda: SynchronizedTimestamp_1_0())
# The active flight mode.
mode: FlightMode_1_0 = field(default_factory=lambda: FlightMode_1_0())
# Vehicle attitude as a unit quaternion in the North-East-Down reference
# frame.
orientation_ned: Quaternion_1_0 = field(default_factory=lambda: Quaternion_1_0())
# Body-frame roll, pitch, and yaw rates in radians per second.
angular_velocity: Vector3_1_0 = field(default_factory=lambda: Vector3_1_0())
# Velocity over ground in the North-East-Down frame, in meters per
# second.
velocity_ned: Vector3_1_0 = field(default_factory=lambda: Vector3_1_0())
# True when the propulsion system is energized and will respond to
# throttle commands.
armed: bool = FalseEvery build recipe compiles this definition along with the rest of the namespace.