0x0C01 - SetCommsLostPolicy

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, perform retrotraverse, or run a specified mission spool. 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.

Structure

SetCommsLostPolicy
 PolicySeq
   PolicyRec
   CommsLostSeq
     CommsLostDetectionRec
     CommsLostPolicyVar
       StopMissionVar
       ContinueMissionVar
       MoveToGlobalPosSeq
         GlobalWaypointExtRec
         TravelSpeedExtRec
         MaxDistanceRec
       MoveToLocalPosSeq
         LocalWaypointExtRec
         TravelSpeedExtRec
         MaxDistanceRec
       RetrotraverseParameterSeq
         RetrotraverseRec
         RetrotraverseVar
           DistanceRec
           GlobalWaypointExtRec
           LocalWaypointExtRec
       RunSpoolRec
   CommsRegainedSeq
     CommsRegainedRec

PolicySeq

Type: Sequence

Field #	Field Name	Type	Optional
1	PolicyRec	PolicyRec	false
2	CommsLostSeq	CommsLostSeq	false
3	CommsRegainedSeq	CommsRegainedSeq	false

PolicyRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	RequestID	uint8	one	false	A request identifier specified by the client that will be returned in the response message. This field allows the client to coordinate requests and responses.

CommsLostSeq

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	CommsLostDetectionRec	CommsLostDetectionRec	false
2	CommsLostPolicyVar	CommsLostPolicyVar	false

CommsLostDetectionRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	CommsLostTimeout	float	second	false	Number of seconds of no contact after which communication is considered lost and the policy is initiated. Note that implementations that monitor for comms lost at discrete intervals may round this value up to the nearest supported interval. For example, an implementation that monitors connectivity at 10 Hz would treat any timeout below 0.1 seconds as 0.1 seconds.

CommsLostPolicyVar

Type: Variant

Index	Type
0	StopMissionVar
1	ContinueMissionVar
2	MoveToGlobalPosSeq
3	MoveToLocalPosSeq
4	RetrotraverseParameterSeq
5	RunSpoolRec

StopMissionVar

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	StopMission	uint8	one	false	Stop mission execution. The exact behavior may depend on the capabilities of the platform. For example, ground vehicles may stop completely, while fixed wing aircraft might loiter around the comms lost position.

ContinueMissionVar

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	ContinueMission	uint8	one	false	Allows the platform to continue mission execution, even in the absence of communications.

MoveToGlobalPosSeq

Type: Sequence

Field #	Field Name	Type	Optional
1	PresenceVector	uint8
2	GlobalWaypointExtRec	GlobalWaypointExtRec	false
3	TravelSpeedExtRec	TravelSpeedExtRec	false
4	MaxDistanceRec	MaxDistanceRec	true

GlobalWaypointExtRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint8
2	Latitude	uint32	degree	false	Decimal degrees
3	Longitude	uint32	degree	false	Decimal degrees
4	ZPosition			true
5	Roll	uint16	radian	true
6	Pitch	uint16	radian	true
7	Heading	uint16	radian	true
8	WaypointTolerance	uint32	meter	true	As defined in AS6009
9	PathTolerance	uint32	meter	true	As defined in AS6009

TravelSpeedExtRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	Speed			false

MaxDistanceRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	MaxDistance	uint32	meter	false	The maximum distance to travel while trying to regain comms. Once this distance has been traversed the recovery will stop. The exact behavior may depend on the capabilities of the platform. For example, ground vehicles may stop completely, while fixed wing aircraft might loiter around this position.

MoveToLocalPosSeq

Type: Sequence

Field #	Field Name	Type	Optional
1	PresenceVector	uint8
2	LocalWaypointExtRec	LocalWaypointExtRec	false
3	TravelSpeedExtRec	TravelSpeedExtRec	false
4	MaxDistanceRec	MaxDistanceRec	true

LocalWaypointExtRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint8
2	X	uint32	meter	false
3	Y	uint32	meter	false
4	ZPosition			true
5	Roll	uint16	radian	true
6	Pitch	uint16	radian	true
7	Heading	uint16	radian	true
8	WaypointTolerance	uint32	meter	true	As defined in AS6009
9	PathTolerance	uint32	meter	true	As defined in AS6009

TravelSpeedExtRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	Speed			false

MaxDistanceRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	MaxDistance	uint32	meter	false	The maximum distance to travel while trying to regain comms. Once this distance has been traversed the recovery will stop. The exact behavior may depend on the capabilities of the platform. For example, ground vehicles may stop completely, while fixed wing aircraft might loiter around this position.

RetrotraverseParameterSeq

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	RetrotraverseRec	RetrotraverseRec	false
2	RetrotraverseVar	RetrotraverseVar	false

RetrotraverseRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	MaxSpeed			false	The maximum traversal speed. A value of zero means the vehicle should not exceed the speed of original travel.
2	Parameters	uint8		false
3	StandoffDistance	uint32	meter	false	Exclusion radius around the destination point. The vehicle may not approach closer than this distance. The exact behavior may depend on the capabilities of the platform. For example, ground vehicles may stop completely at the edge of this exclusion zone, while fixed wing aircraft might loiter treating it as a no-go zone.

RetrotraverseVar

Type: Variant

Index	Type
0	DistanceRec
1	GlobalWaypointExtRec
2	LocalWaypointExtRec

DistanceRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	Distance	uint32	meter	false	Distance along the path to retrotraverse.

GlobalWaypointExtRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint8
2	Latitude	uint32	degree	false	Decimal degrees
3	Longitude	uint32	degree	false	Decimal degrees
4	ZPosition			true
5	Roll	uint16	radian	true
6	Pitch	uint16	radian	true
7	Heading	uint16	radian	true
8	WaypointTolerance	uint32	meter	true	As defined in AS6009
9	PathTolerance	uint32	meter	true	As defined in AS6009

LocalWaypointExtRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint8
2	X	uint32	meter	false
3	Y	uint32	meter	false
4	ZPosition			true
5	Roll	uint16	radian	true
6	Pitch	uint16	radian	true
7	Heading	uint16	radian	true
8	WaypointTolerance	uint32	meter	true	As defined in AS6009
9	PathTolerance	uint32	meter	true	As defined in AS6009

RunSpoolRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	SpoolerComponent	uint32		false	Identifier of the component hosting the Mission Spooler Service
2	SpoolID	uint8	one	false	ID of the spool to be run
3	StartingTaskStep	uint8	one	false	Specifies which task in the zero-indexed task list to start execution with, where 0 is the first in the list

CommsRegainedSeq

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	CommsRegainedRec	CommsRegainedRec	false

CommsRegainedRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	CommsRegainedTimeout	float	second	false	Number of seconds of communication with previous controlling client to consider communications regained. The exact criteria for such an event are implementation dependent. Note that implementations that monitor for comms regained at discrete intervals may round this value up to the nearest supported interval. For example, an implementation that monitors connectivity at 10 Hz would treat any timeout below 0.1 seconds as 0.1 seconds.
2	CommsRegainedBehavior	uint8	one	false