Protocol Documentation

True to connect, false to disconnect.

Sensor id, f. ex. "SENSOR_CONDUCTIVITY_SENSOR".

Parameter name, f. ex. "PARAMETER_TEMPERATURE".

Unit, f. ex. "UNIT_TEMP_CELSIUS".

Message with the multibeam ping configuration to set on connect.

State of the altitude controller.

State of the depth controller.

State of the heading controller.

State of the auto pilot heave controller-

State of the auto pilot surge yaw controller.

Message with the desired servo value.

The desired gripping and rotation velocity.

Message with the desired light intensity.

Message with the desired laser intensity.

Message with the desired light intensity.

Message with the desired movement in each direction.

Message with the desired servo angle.

The GPS position of the pilot.

Message with the pinger configuration to set.

Message specifying which cameras to record.

Reset settings.

Message with information about how long to keep the guest ports off.

Message with information about which parameter to set and the unit to set it to.

Message with information about which parameter to set and the unit to set it to.

Message with the multibeam ping configuration to set.

State of the station keeping controller.

Message with the system time to set.

Message with the tilt stabilization state to set.

Message with the desired tilt velocity (direction and speed).

Message with the number of seconds the client has been connected.

The ID of the client, received in the ConnectClientRep response.

Message with the water density to set.

State of the weather vaning controller.

Drone altitude over seabed (m).

If altitude is valid or not.

Roll angle (-180°..180°).

Pitch angle (-180°..180°).

Yaw angle (-180°..180°).

If auto altitude is enabled.

If auto depth is enabled.

If auto heading is enabled.

If auto pilot heave is enabled.

If auto pilot surge yaw is enabled.

Battery voltage (V).

Battery level (0..1).

Battery temperature (°C).

Voltage of the battery cells.

Temperature of the battery cells.

Battery status flags.

Measured current from the coulomb counter (A).

Average current (A).

Predicted remaining battery capacity as a factor of full capacity (0..1).

Predicted remaining battery capacity (0..1).

Calculated state of charge (0..1).

Predicted remaining battery capacity (Ah).

Predicted battery capacity when fully charged (Ah).

Predicted remaining battery capacity based on the present rate of discharge (s).

Predicted remaining battery capacity based on average_current (s).

Predicted time-to-full charge based on average_current (s).

Desired charging current (A).

Desired charging voltage (V).

Number of charging cycles.

Design capacity (Ah).

Manufacture date.

Serial number.

Manufacturer name.

Device name.

Battery chemistry.

Battery lifetimes.

Battery safety events.

Battery charging events.

Total number of valid charge termination events (events).

Last valid charge termination in cycle count cycles (cycles).

Maximum reported cell voltages.

Minimum reported cell voltages.

Max delta between cells (V).

Max reported current in the charge direction (A).

Max reported current in the discharge direction (A).

Max reported average current in the discharge direction (A).

Max reported power in discharge direction (W).

Max reported cell temperature (°C).

Min reported cell temperature (°C).

Max reported temperature delta for TSx inputs configured as cell temperature (°C).

Max reported internal temperature sensor temperature (°C).

Min reported internal temperature sensor temperature (°C).

Max reported FET temperature (°C).

Voltage for cell number 1 (V).

Voltage for cell number 2 (V).

Voltage for cell number 3 (V).

Voltage for cell number 4 (V).

Number of cell over voltage (COV) events (events).

Last COV event in cycle count cycles (cycles).

Number of cell under voltage (CUV) events (events).

Last CUV event in cycle count cycles (cycles).

Number of over current in Discharge 1 (OCD1) events (events).

Last OCD1 event in cycle count cycles (cycles).

Number of over current in Discharge 2 (OCD2) events (events).

Last OCD2 event in cycle count cycles (cycles).

Number of over current in Charge 1 (OCC1) events (events).

Last OCC1 event in cycle count cycles (cycles).

Number of over current in Charge 2 (OCC2) events (events).

Last OCC2 event in cycle count cycles (cycles).

Number of Overload in discharge (AOLD) events (events).

Last AOLD event in cycle count cycles (cycles).

Number of Short Circuit in Discharge (ASCD) events (events).

Last ASCD event in cycle count cycles (cycles).

Number of Short Circuit in Charge (ASCC) events (events).

Last ASCC event in cycle count cycles (cycles).

Number of over temperature in Charge (OTC) events (events).

Last OTC event in cycle count cycles (cycles).

Number of over temperature in Discharge (OTD) events (events).

Last OTD event in cycle count cycles (cycles).

Number of over temperature in FET (OTF) events (events).

Last OTF event in cycle count cycles (cycles).

Battery error codes.

Average temperature accross cells (°C).

Cell 1 temperature (°C).

Cell 2 temperature (°C).

Cell 3 temperature (°C).

Cell 4 temperature (°C).

Battery pack voltage level (V).

Cell 1 voltage level (V).

Vell 2 voltage level (V).

Cell 3 voltage level (V).

Cell 4 voltage level (V).

The log entry payload.

Unix timestamp in UTC.

Posix CLOCK_MONOTONIC timestamp.

CPU load (0..1).

Memory bus load (0..1).

Main queue load (0..1).

Guestport queue load (0..1).

CPU temperature (°C).

Current calibration status.

Progress for the positive X axis (0..1).

Progress for the negative X axis (0..1).

Progress for the positive Y axis (0..1).

Progress for the negative X axis (0..1).

Progress for the positive Z axis (0..1).

Progress for the negative Z axis (0..1).

Progress for the thruster calibration (0..1).

Bitrate of the h264 stream (bit/sec).

Bitrate of the MJPG stream used for still pictures (bit/sec).

Shutter speed (1/10000 * s), -1 for automatic exposure.

White balance temperature (2800..9300), -1 for automatic white balance.

Hue (-40..40), 0 as default.

Iso gain (0..1).

Stream, recording and image resolution (deprecated).

Stream resolution.

Recording and image resolution.

Stream and recording framerate.

Which camera the parameters belong to.

Air humidity (%).

Temperature (°C).

The type of client (such as Blueye App, Observer App, SDK, etc).

Client software version string.

Device type, such as mobile, tablet, or computer.

Platform, such as iOS, Android, Linux, etc.

Platform software version string.

Name of the client.

If the client should be connected as an observer or not.

The assigned client id.

Client information.

Time since connected to drone (s).

Force in surge (N).

Force in sway (N).

Force in heave (N).

Moment in yaw (Nm).

If auto depth is enabled.

If auto heading is enabled.

If auto altitude is enabled.

If station keeping is enabled.

If weather vaning is enabled.

If auto pilot surge yaw is enabled.

If auto pilot heave is enabled.

Depth error in meters (m).

Depth controller load (0..1).

Heading error in degrees (°).

Heading controller load (0..1).

Potential measurement (V).

Indicating if the measurement is valid.

Drone depth below surface (m).

Number of seconds the drone has been submerged.

Blunux version string.

Drone serial number.

Main computer unique identifier.

Drone model.

Motherboard serial number.

Backbone serial number.

Drone stack serial number.

Motherboard unique identifier.

Backbone unique identifier.

Guest port information.

Type of depth sensor that is connected to the drone.

Transducer ID, 3 beams for Nucleus DVL, 4 beams for DVL A50.

Velocity (m/s).

Distance (m).

Beam validity.

Received signal strength indicator: strength of the signal received by this transducer (dBm).

Noise spectral density: strength of the background noise received by this transducer (dBm).

Sensor id.

Vendor-specific status of the DVL.

Time since last velocity measurement (ms).

Figure of merit, a measure of the accuracy of the velocities (m/s).

Velocity, x forward, y left, z down (m/s).

Water tracking status.

List of transducers.

Acknowledge message not received for a message published to internal micro controller.

Error in communication with internal micro controller.

Error reading depth sensor value.

Sudden spike in value read from depth sensor.

Error reading inner pressure of the drone.

Sudden spike in inner preassure.

Compass needs calibration.

Error during calibration of tilt endpoints.

Guest port 1 read error.

Guest port 2 read error.

Guest port 3 read error.

Guest port 1 not flashed.

Guest port 2 not flashed.

Guest port 3 not flashed.

Unknown device on guest port 1.

Unknown device on guest port 2.

Unknown device on guest port 3.

Guest port 1 connection error.

Guest port 2 connection error.

Guest port 3 connection error.

Guest port 1 device error.

Guest port 2 device error.

Guest port 3 device error.

Drone serial number not set.

Drone serial number error.

MB eeprom read error.

BB eeprom read error.

MB eeprom not flashed.

BB eeprom not flashed.

We don't get buffers from the main camera.

The main camera firmware is wrong.

We don't get buffers from the guestport camera.

The guestport camera firmware is wrong.

MB serial number error.

BB serial number error.

DS serial number error.

Error reading GP current.

Max GP current exceeded.

Max battery current exceeded on GP1.

Max battery current exceeded on GP2.

Max battery current exceeded on GP3.

Max 20V current exceeded on GP.

DVL is in thermal protection mode.

GP protection has been triggered at boot or faulty DVL.

USB disconnect.

Video URB error.

Hardware not supported on current blunux version.

Distance in front of drone (m).

If distance reading is valid or not.

Servo value (0..1).

Guest port the servo is on.

The gripping velocity (-1.0..1.0).

The rotating velocity (-1.0..1.0).

List of devices on this connector.

Guest port connector error.

Guest port the connector is connected to.

Current on GP1 battery voltage (A).

Current on GP2 battery voltage (A).

Current on GP3 battery voltage (A).

Current on common 20V supply (A).

Blueye device identifier.

Manufacturer name.

Device name.

Serial number.

Depth rating (m).

Required Blunux version (x.y.z).

Detach status based on detection pin.

List of guest port devices.

Information about guest port 1.

Information about guest port 2.

Information about guest port 3.

Duration to keep the guest ports off (s).

Acceleration (g).

Angular velocity (rad/s).

Magnetic field (μT).

Temperature (°C).

Transfer rate from drone to Surface Unit (Mbit/s).

Transfer rate from Surface Unit to drone (Mbit/s).

Laser intensity, any value above 0 turns the laser on (0..1).

Latitude (°).

Longitude (°).

Light intensity (0..1).

Timestamp of the log entry.

Name of the process that generated the log entry.

Process ID of the log entry.

Thread ID of the log entry.

Source of the log entry (specific class or named logger).

Log level, info, warning, error, etc.

Log message.

Location source used for the magnetic declination look-up in geographiclib.

The declination which is applied to the yaw field in the Attitude msg.

The location used for the magnetic declination look-up.

Time stamp when the data is received.

Time stamp the sensor reports.

Time the sensor actually measured (s).

Time the measurement took (s).

Total counts inside the spectrum.

Counts per second inside the spectrum (rounded).

Detected counts above the last channel.

Forward (positive) and backwards (negative) movement. (-1..1).

Right (positive) and left (negative) lateral movement (-1..1).

Descend (positive) and ascend (negative) movement (-1..1).

Roll left (negative) or right (positive). (-1..1).

Pitch down (negative) or up (positive). (-1..1).

Left (positive) and right (negative) movement (-1..1).

Modifier used to reduce the speed of the motion (0..1).

Modifier used to increase the speed of the motion (0..1).

Frequency mode used by the sonar if supported.

Sets the maximum ping rate.

Gamma correction (0..1.0).

Enable gain assist.

Enable gain boost (only available on Blueprint devices).

Maximum number of beams. Used to throttle bandwidth.

The range demand (m).

The gain demand (0..1).

Set water salinity (ppt). Defaults to zero in fresh water.

Device ID of the sonar.

Network bandwidth limit (Mbit/s), applies only to Oculus devices.

If the sonar driver is enabled.

IP address of the sonar.

Subnet mask of the sonar.

Serial number of the sonar.

Firmware version of the sonar.

IP address of the connected device.

Device ID of the sonar.

Error flags specific for the connected multibeam device.

If the sonar is captured by another client than the drone. The connected client IP is reported in connected_ip property.

If the multibeam is reporting to overheat.

If a TriTech multibeam is reporting to be out of water.

Duration from the start of the recording.

Offset in bytes from the start of the file.

Maximum range value (m).

Percentage of gain (0 to 1).

Ping acoustic frequency (Hz).

Speed of sound used by the sonar for range calculations (m/s).

Frequency mode used by the sonar for this frame.

Height of the ping image data.

Width of the ping image data.

Size in bytes of each row in the ping data image.

Bearing angle of each column of the sonar data (in 100th of a degree, multiply by 0.01 to get a value in degrees). The sonar image is not sampled uniformly in the bearing direction.

Ping data (row major, 2D, grayscale image).

Device ID of the sonar.

Timestamp when the frame was generated.

Servo degrees (-30..30).

List of frame offsets.

The number of clients to the main camera stream.

The number of clients to the guestport camera stream.

Sensor id.

Sensor validity.

Position from reset point (m).

Position from reset point (m).

Heading from sensor (-pi..pi).

Figure of merit.

Standard deviation.

Global position from sensor.

Notification to be displayed to the user.

Level of the notification, info, warning or error.

Optional value to be displayed in the message.

Timestamp of the notification.

If temperature should be included.

If depth should be included.

If heading should be included.

If camera tilt angle should be included.

If camera tilt angle should be included.

If date should be included.

If distance should be included.

If altitude should be included.

If cp-probe should be included.

If medusa measurement should be included.

If the drone location coordinates should be included.

Which logo should be used.

Which unit should be used for depth: Meter, Feet or None.

Which unit should be used for temperature: Celsius or Fahrenheit.

Which unit should be used for thickness: Millimeters or Inches.

Timezone offset from UTC (min).

Horizontal margins of text elements (px).

Vertical margins of text elements (px).

Font size of text elements.

Optional title.

Optional subtitle.

Posix strftime format string for time stamp.

Pixel intensity to subtract from text background (0..1), 0: transparent, 1: black.

Indicates if videos should be written to the video partition.

Indicates if images should be written to the video partition.

Indicates if binary logs with telemetry data should be written to the data partition.

Indicates if multibeam data should be written to the video partition.

Indicates if webserver logs should be written to the data partition.

Indicates if control system logs should be written to the data partition.

Indicates if gyro calibration data should be written to the data partition.

Indicates if compass calibration data should be written to the data partition.

Indicates if accelerometer calibration data should be written to the data partition.

Mounting direction of the pinger.

Position from reset point (m).

Position from reset point (m).

Continuous heading estimate (rad).

Velocity in surge (m/s).

Velocity in sway (m/s).

Rotaion rate in yaw (rad/s).

Estimated ocean current (m/s).

Travelled distance since reset (m).

If the estimate can be trusted.

Best estimate of the global position in decimal degrees.

List of available sensors with status.

Speed over ground (m/s).

Course over ground (°).

Time since reset (s).

Accuracy radius of this position at the 95th percentile confidence level (m).

Record the main camera.

Record external camera.

Record multibeam.

If the main camera is recording.

Main record time (s).

Main record fps.

If the guestport camera is recording.

Guestport record time (s).

Guestport record fps.

If the multibeam is recording.

Multibeam record time (s).

Multibeam record fps.

Reference from joystick surge input (0..1).

Reference from joystick sway input (0..1).

Reference from joystick heave input (0..1).

Reference from joystick yaw input (0..1).

Reference drone depth below surface (m).

Reference used in auto heading mode, gyro based (°).

Reference used in auto altitude mode (m).

USB vendor name.

Model name of the USB storage device.

Mount path of the storage device.

Status of the storage device.

Any active error flags for the storage device.

List of partitions on the storage device.

Optional error message to give additional information from the drone to a client about active error flags.

Device is attached but no partitions are found.

Multiple partitions are found.

The wrong file system is found.

The device is in read-only mode.

Formatting of the device failed.

Option to use the drone compass or due North as heading during reset.

Heading in degrees (0-359).

Option to use the device GPS or a manual coordinate.

Reset coordinate in decimal degrees.

Heading mode used in dead reckoning.

If station keeping is enabled.

The amount of storage space on the device.

File system type of the removable storage device.

Partition device path

Mount path of the partition.

Total bytes of storage space (B).

Available bytes of storage space (B).

Unix timestamp.

Thickness measurement of a steel plate.

Indicating the quality of the reading when invalid (0-3).

Speed of sound in the steel member (m/s).

Indicating if the measurement is valid.

Tilt angle (°).

If tilt stabilization is enabled.

Relative angular velocity of tilt (-1..1), negative means down and positive means up.

Interval between photos.

Number of photos taken.

Interval type for photos, distance or time.

X-component.

Y-component.

Z-component.

Water density (g/l).

Water temperature (°C).

If weather vaning is enabled.