Messages and data types

This page documents the message and data type structures for the topics used by the components of AeroSim to exchange data. See the aerosim-data module for more information.

ActorModel

Data type specifying the asset and physical properties of an actor.

Fields:

  • physical_properties: PhysicalProperties - Physical properties of the actor.
  • asset_link: Option<String> - Link to the asset of the actor.

ActorState

Data type with generic actor information.

Fields:

  • pose: Pose - Actor pose.

AircraftEffectorCommand

Data type with input to flight dynamics model, output from flight controller.

Fields:

  • throttle_cmd: Vec<f64> - Engine throttle command. Scales between 0.0 (no power) and 1.0 (max power). Values are provided in an array for multiple thrust-generating devices.
  • aileron_cmd_angle_rad: Vec<f64> - Aileron deflection command in radians.
  • elevator_cmd_angle_rad: Vec<f64> - Elevator deflection command in radians.
  • rudder_cmd_angle_rad: Vec<f64> - Rudder deflection command in radians.
  • thrust_tilt_cmd_angle_rad: Vec<f64> - Thrust tilt command in radians.
  • flap_cmd_angle_rad: Vec<f64> - Flap angle in radians.
  • speedbrake_cmd_angle_rad: Vec<f64> - Speedbrake angle in radians.
  • landing_gear_cmd: Vec<f64> - Landing gear, 0.0 stowed, 1.0 deployed.
  • wheel_steer_cmd_angle_rad: Vec<f64> - Wheel steer angle radians.
  • wheel_brake_cmd: Vec<f64> - Wheel brake command, 1.0 fully applied, 0.0 no brake.

AutopilotCommand

Input to autopilot.

Fields:

  • flight_plan: String - Flight plan information, e.g. waypoints, mission, etc.
  • flight_plan_command: AutopilotFlightPlanCommand - Flight plan execution command: Stop, Run or Pause.
  • use_manual_setpoints: bool - Flag to use manual setpoints instead of flight plan.
  • attitude_hold: bool - Flag to hold current attitude roll/pitch/yaw if True.
  • altitude_setpoint_ft: f64 - Target hold altitude in feet.
  • airspeed_hold: bool - Flag to hold airspeed if True.
  • airspeed_setpoint_kts: f64 - Target hold airspeed in knots.
  • heading_hold: bool - Flag to hold heading if True.
  • heading_set_by_waypoint: bool - Flag to use waypoint as target heading instead of heading_setpoint if True.
  • heading_setpoint_deg: f64 - Target heading setpoint in degrees (0 = north, 90 = east, 180 = south, 270 = west).
  • target_wp_latitude_deg: f64 - Target waypoint latitude in degrees.
  • target_wp_longitude_deg: f64 - Target waypoint longitude in degrees.

AutopilotFlightPlanCommand

Enum with the different commands for the autopilot flight plan.

Fields:

  • Stop = 0
  • Run = 1
  • Pause = 2

CameraInfo

Data type with information about the camera settings.

Fields:

  • width: u32 - Width of the camera.
  • height: u32 - Height of the camera.
  • distortion_model: String - Distortion model assumed in the camera.
  • d: Vec<f64> - Camera parameter d.
  • k: [f64; 9] - Camera parameter k.
  • r: [f64; 9] - Camera parameter r.
  • p: [f64; 12] - Camera parameter p.

CompressedImage

Compressed images from the Image data type using turbojpeg via the method compress. Can be decompress to an Image type through the decompress method. Dimensions of the image are encoded in the compression.

Fields:

  • format: ImageFormat - Format of the image, either JPEG or PNG.
  • data: Vec<u8> - Image data.

EffectorState

Data type with effector state information, used in the FMU models definition.

Fields:

  • pose: Pose - Actor pose.

FlightControlCommand

Data type used as input to a flight controller, got as output from (auto)pilot.

Fields:

  • power_cmd: Vec<f64> - Vehicle power command. Scales between 0.0 (no power) and 1.0 (max power). Values are provided in an array for multiple thrust-generating devices.
  • roll_cmd: f64 - Vehicle roll command. Scales between -1.0 and 1.0.
  • pitch_cmd: f64 - Vehicle pitch command. Scales between -1.0 and 1.0.
  • yaw_cmd: f64 - Vehicle yaw command. Scales between -1.0 and 1.0.
  • thrust_tilt_cmd: f64 - Tilt command for a tilt-rotor craft. Scales between 0.0 and 1.0.
  • flap_cmd: f64 - Flap state command. Scales between 0.0 and 1.0.
  • speedbrake_cmd: f64 - Speed brake command. Scales between 0.0 and 1.0.
  • landing_gear_cmd: f64 - Landing gear command. Scales between 0.0 (stowed) amd 1.0 (extended).
  • wheel_steer_cmd: f64 - Wheel steer for taxi. Scales between -1.0 (left) and 1.0 (right).
  • wheel_brake_cmd: f64 - Wheel brake command. Scales between 0.0 (off) and 1.0 (full strength).

GNSS

GNSS message.

Fields:

  • latitude: f64 - Data latitude.
  • longitude: f64 - Data longitude.
  • altitude: f64 - Data altitude.
  • velocity: Vector3 - 3D velocity.
  • heading: f64 - Heading.

Header present in all messages.

Fields:

  • timestamp_sim: TimeStamp - Discrete simulation time. A sentinel value {sec: i32::MIN, nanosec: 0} is set when the simulation time is not specified.
  • timestamp_platform: TimeStamp - Absolute platform time since the Unix Epoch.
  • frame_id: String - Identifier for the frame.

HSIMode

Enum with different available HSI modes for the PrimaryFlightDisplayData.

Fields:

  • GPS = 0
  • VOR1 = 1
  • VOR2 = 2

Image

Data type for encoding images. Can be converted through the compress method to a CompressedImage.

Fields:

  • camera_info: CameraInfo - Information of the camera source.
  • height: u32 - Height of the image.
  • width: u32 - Width of the image.
  • encoding: ImageEncoding - Type of enconding of the image.
  • is_bigendian: u8 - Whether it is big endian or not (order of bytes encoding).
  • step: u32
  • data: Vec<u8> - Image data as a sequence of integers.

ImageEncoding

Enunm with image encoding available options.

Fields:

  • RGB8
  • RGBA8
  • BGR8
  • BGRA8
  • MONO8
  • MONO16
  • YUV422

ImageFormat

Enum indicating the format of a CompressedImage.

Fields:

  • JPEG
  • PNG

IMU

IMU sensor messages.

Fields:

  • acceleration: Vector3 - Acceleration data.
  • gyroscope: Vector3 - Gyroscope data, with angular velocity information.
  • magnetic_field: Vector3 - Magnetic field data.

JsonData

Generic data type to encode json data.

Fields:

  • data: String - data to be encoded as json.

PhysicalProperties

Physical properties of an actor.

Fields:

  • mass: f64 - Mass of the actor.
  • inertia_tensor: Vector3 - Inertia tensor of the actor, indicated as a vector.
  • moment_of_inertia: Vector3 - Moment of inertia of the actor.

Pose

Data type with position and orientation information of an actor.

Fields:

  • position: Vector3 - Actor 3D position.
  • orientation: Quaternion - Actor quaternion orientation.

PrimaryFlightDisplayData

Flight data to be displayed in the deck's Primary Flight Display (PFD) component.

Fields:

  • airspeed_kts: f64 - JSBSim velocities/vc-kts.
  • true_airspeed_kts: f64 - JSBSim velocities/vtrue-kts.
  • altitude_ft: f64 - JSBSim position/h-sl-ft.
  • target_altitude_ft: f64 - AutopilotCommand altitude_setpoint_ft.
  • altimeter_pressure_setting_inhg: f64 - User-set value (standard pressure = 29.92 inHG, QNH = height above MSL adjusted from local atmospheric pressure, QFE = height above airfield elevation).
  • vertical_speed_fpm: f64 - JSBSim velocities/h-dot-fps converted to feet/min.
  • pitch_deg: f64 - JSBSim attitude/pitch-rad.
  • roll_deg: f64 - JSBSim attitude/roll-rad.
  • side_slip_fps2: f64 - JSBSim accelerations/vdot-ft_sec2.
  • heading_deg: f64 - JSBSim attitude/heading-true-rad converted to deg.
  • hsi_course_select_heading_deg: f64 - For GPS mode, calculated heading between prev and next waypoints.
  • hsi_course_deviation_deg: f64 - For GPS mode, nautical mile offset from course line converted as 5 NM = 12 deg.
  • hsi_mode: HSIMode - User-set mode, start with GPS only. Available options: GPS, VOR1 and VOR2.

Quaternion

Quaternion data type.

  • w: f64 - Scalar component.
  • x: f64 - x coordinate.
  • y: f64 - y coordinate.
  • z: f64 - z coordinate.

TimeStamp

Data type containing a simulator time stamp.

Fields:

  • sec: int32 - Simulation time in seconds.
  • nanosec: uint32 - Simulation time in nanoseconds beyond the given time in seconds.

TrajectoryVisualization

Aircraft Trajectory Visualization Command.

Fields:

TrajectoryVisualizationSettings

Settings fot the TrajectoryVisualization messages.

Fields:

  • display_future_trajectory: bool - Whether to display future trajectory points.
  • display_past_trajectory: bool - Whether to display past trajectory points.
  • highlight_user_defined_waypoints: bool - Whether to highlight those waypoints set by the user.
  • number_of_future_waypoints: u64 - Indicates the number of waypoints in the future trajectory.

TrajectoryWaypoints

Indicate the waypoints of a trajectory by a string.

Fields:

  • waypoints: String - string with waypoints of the trajectory.

Vector3

Generic vector 3D data type.

  • x: f64 - x coordinate.
  • y: f64 - y coordinate.
  • z: f64 - z coordinate.

VehicleState

Data type containing information about the vehicle state, including pose, velocity and acceleration and angular velocity/acceleration.

Fields:

  • state: ActorState - Combined actor state information.
  • velocity: Vector3 - Actor velocity in m/s.
  • angular_velocity: Vector3 - Actor angular velocity in rad/s.
  • acceleration: Vector3 - Actor acceleration in m/s2.
  • angular_acceleration: Vector3 - Actor angular acceleration in rad/s2.