low_control.proto

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syntax = "proto2";
 
import "dccl/option_extensions.proto";
import "jaiabot/messages/control_surfaces.proto";
import "jaiabot/messages/geographic_coordinate.proto";
 
package jaiabot.protobuf;
 
message LowControl
{
    option (dccl.msg) = {
        unit_system: "si"
    };
    required uint32 id = 1;
    required uint32 vehicle = 2;
    required uint64 time = 3 [
        (dccl.field) = { units { prefix: "micro" derived_dimensions: "time" } }
    ];
 
    optional ControlSurfaces control_surfaces = 6;
}
 
message LowControlAck
{
    option (dccl.msg) = {
        unit_system: "si"
    };
    required uint32 id = 1;
    required uint32 vehicle = 2;
    required uint64 time = 3 [
        (dccl.field) = { units { prefix: "micro" derived_dimensions: "time" } }
    ];
    required uint64 command_time = 4 [
        (dccl.field) = { units { prefix: "micro" derived_dimensions: "time" } }
    ];
    required GeographicCoordinate location = 5;
 
    optional double range = 6
        [(dccl.field) = { units { base_dimensions: "L" } }];
    optional double speed = 7
        [(dccl.field) = { units { derived_dimensions: "length/time" } }];
    optional double eps = 12
        [(dccl.field) = { units { derived_dimensions: "length/time" } }];
}