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Adds LblConfigExtended and LblBeaconExtended. #38

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Adds LblConfigExtended and LblBeaconExtended. #38

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96 changes: 96 additions & 0 deletions IMC.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2079,6 +2079,102 @@
</field>
</message>

<message id="204" name="LBL Beacon Configuration Extended" abbrev="LblBeaconExtended" source="ccu,vehicle" category="Acoustic Communication">
<description>
Position and configuration of an LBL transponder (beacon). The LBL transponder may be fixed or mobile, depending on TTL value.
</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>
<field name="Configuration Timestamp" abbrev="ctime" type="fp64_t" unit="s">
<description>
Epoch time of this beacon configuration. For *ttl* seconds after this instant, position is estimated
to vary according to *vx*, *vy* and *vz*.
</description>
</field>
<field name="Time to live" abbrev="ttl" type="uint16_t" unit="s">
<description>
Defines if LBL Beacon is fixed or mobile. If set to 0, LBL Beacon is fixed. Otherwise, it's the time,
in seconds, that the current position is considered valid.
</description>
</field>
<field name="Ground Velocity X (North)" abbrev="vx" type="fp32_t" unit="m/s">
<description>
For mobile LBL Beacons. Ground Velocity xx axis velocity component.
</description>
</field>
<field name="Ground Velocity Y (East)" abbrev="vy" type="fp32_t" unit="m/s">
<description>
For mobile LBL Beacons. Ground Velocity yy axis velocity component.
</description>
</field>
<field name="Ground Velocity Z (Down)" abbrev="vz" type="fp32_t" unit="m/s">
<description>
For mobile LBL Beacons. Ground Velocity zz axis velocity component.
</description>
</field>
</message>

<message id="205" name="LBL Configuration Extended" abbrev="LblConfigExtended" 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">
<description>Reply from vehicle with its current beacons configuration.</description>
</value>
<value abbrev="POS_CFG" name="Update LBL Configuration (beacons position)" id="3">
<description>Update the beacons position aboard the vehicle.</description>
</value>
</field>
<field name="Beacons" abbrev="beacons" type="message-list" message-type="LblBeaconExtended">
<description>
A list of LBL Beacon Configuration Extended messages.
</description>
</field>
</message>

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