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Message Formats

message_formats

Classes:

Altitude

Drone altitude over seabed, typically obtained from a DVL.

is_valid class-attribute instance-attribute 

is_valid: bool = Field(BOOL, number=2)

value class-attribute instance-attribute 

value: float = Field(FLOAT, number=1)

Attitude

The attitude of the drone.

pitch class-attribute instance-attribute 

pitch: float = Field(FLOAT, number=2)

roll class-attribute instance-attribute 

roll: float = Field(FLOAT, number=1)

yaw class-attribute instance-attribute 

yaw: float = Field(FLOAT, number=3)

AutoAltitudeState

Auto altitude state.

enabled class-attribute instance-attribute 

enabled: bool = Field(BOOL, number=1)

AutoDepthState

Auto depth state.

enabled class-attribute instance-attribute 

enabled: bool = Field(BOOL, number=1)

AutoHeadingState

Auto heading state.

enabled class-attribute instance-attribute 

enabled: bool = Field(BOOL, number=1)

AutoPilotHeaveState

Auto pilot heave state.

enabled class-attribute instance-attribute 

enabled: bool = Field(BOOL, number=1)

AutoPilotSurgeYawState

Auto pilot surge yaw state.

enabled class-attribute instance-attribute 

enabled: bool = Field(BOOL, number=1)

Battery

Essential battery information.

level class-attribute instance-attribute 

level: float = Field(FLOAT, number=2)

temperature class-attribute instance-attribute 

temperature: float = Field(FLOAT, number=3)

voltage class-attribute instance-attribute 

voltage: float = Field(FLOAT, number=1)

BatteryBQ40Z50

Battery information message.

Detailed information about all aspects of the connected Blueye Smart Battery, using the BQ40Z50 BMS.

Classes:

absolute_state_of_charge class-attribute instance-attribute 

absolute_state_of_charge: float = Field(FLOAT, number=9)

average_current class-attribute instance-attribute 

average_current: float = Field(FLOAT, number=7)

average_time_to_empty class-attribute instance-attribute 

average_time_to_empty: int = Field(UINT32, number=13)

average_time_to_full class-attribute instance-attribute 

average_time_to_full: int = Field(UINT32, number=14)

calculated_state_of_charge class-attribute instance-attribute 

calculated_state_of_charge: float = Field(FLOAT, number=26)

charging_current class-attribute instance-attribute 

charging_current: float = Field(FLOAT, number=17)

charging_events class-attribute instance-attribute 

charging_events: BatteryChargingEvents = Field(
    MESSAGE, number=29, message=BatteryChargingEvents
)

charging_voltage class-attribute instance-attribute 

charging_voltage: float = Field(FLOAT, number=18)

current class-attribute instance-attribute 

current: float = Field(FLOAT, number=6)

cycle_count class-attribute instance-attribute 

cycle_count: int = Field(UINT32, number=19)

design_capacity class-attribute instance-attribute 

design_capacity: float = Field(FLOAT, number=20)

device_chemistry class-attribute instance-attribute 

device_chemistry: str = Field(STRING, number=25)

device_name class-attribute instance-attribute 

device_name: str = Field(STRING, number=24)

full_charge_capacity class-attribute instance-attribute 

full_charge_capacity: float = Field(FLOAT, number=11)

lifetimes class-attribute instance-attribute 

lifetimes: BatteryLifetimes = Field(
    MESSAGE, number=27, message=BatteryLifetimes
)

manufacture_date class-attribute instance-attribute 

manufacture_date: Timestamp = Field(
    MESSAGE, number=21, message=Timestamp
)

manufacturer_name class-attribute instance-attribute 

manufacturer_name: str = Field(STRING, number=23)

relative_state_of_charge class-attribute instance-attribute 

relative_state_of_charge: float = Field(FLOAT, number=8)

remaining_capacity class-attribute instance-attribute 

remaining_capacity: float = Field(FLOAT, number=10)

runtime_to_empty class-attribute instance-attribute 

runtime_to_empty: int = Field(UINT32, number=12)

safety_events class-attribute instance-attribute 

safety_events: BatterySafetyEvents = Field(
    MESSAGE, number=28, message=BatterySafetyEvents
)

serial_number class-attribute instance-attribute 

serial_number: int = Field(UINT32, number=22)

status class-attribute instance-attribute 

status: BatteryStatus = Field(
    MESSAGE, number=4, message=BatteryStatus
)

temperature class-attribute instance-attribute 

temperature: Temperature = Field(
    MESSAGE, number=2, message=Temperature
)

voltage class-attribute instance-attribute 

voltage: Voltage = Field(MESSAGE, number=1, message=Voltage)

BatteryChargingEvents

charge_termination_events_count class-attribute instance-attribute 
charge_termination_events_count: int = Field(
    UINT32, number=1
)
charge_termination_last_event class-attribute instance-attribute 
charge_termination_last_event: int = Field(UINT32, number=2)

BatteryLifetimes

Classes:

max_avg_discharge_current class-attribute instance-attribute 
max_avg_discharge_current: float = Field(FLOAT, number=6)
max_avg_discharge_power class-attribute instance-attribute 
max_avg_discharge_power: float = Field(FLOAT, number=7)
max_cell_temperature class-attribute instance-attribute 
max_cell_temperature: float = Field(FLOAT, number=8)
max_cell_voltages class-attribute instance-attribute 
max_cell_voltages: (
    "BatteryBQ40Z50.BatteryLifetimes.CellVoltages"
) = Field(
    MESSAGE,
    number=1,
    message="BatteryBQ40Z50.BatteryLifetimes.CellVoltages",
)
max_charge_current class-attribute instance-attribute 
max_charge_current: float = Field(FLOAT, number=4)
max_delta_cell_temperature class-attribute instance-attribute 
max_delta_cell_temperature: float = Field(FLOAT, number=10)
max_delta_cell_voltage class-attribute instance-attribute 
max_delta_cell_voltage: float = Field(FLOAT, number=3)
max_discharge_current class-attribute instance-attribute 
max_discharge_current: float = Field(FLOAT, number=5)
max_temperature_fet class-attribute instance-attribute 
max_temperature_fet: float = Field(FLOAT, number=13)
max_temperature_internal_sensor class-attribute instance-attribute 
max_temperature_internal_sensor: float = Field(
    FLOAT, number=11
)
min_cell_temperature class-attribute instance-attribute 
min_cell_temperature: float = Field(FLOAT, number=9)
min_cell_voltages class-attribute instance-attribute 
min_cell_voltages: (
    "BatteryBQ40Z50.BatteryLifetimes.CellVoltages"
) = Field(
    MESSAGE,
    number=2,
    message="BatteryBQ40Z50.BatteryLifetimes.CellVoltages",
)
min_temperature_internal_sensor class-attribute instance-attribute 
min_temperature_internal_sensor: float = Field(
    FLOAT, number=12
)
CellVoltages
cell_1 class-attribute instance-attribute 
cell_1: float = Field(FLOAT, number=1)
cell_2 class-attribute instance-attribute 
cell_2: float = Field(FLOAT, number=2)
cell_3 class-attribute instance-attribute 
cell_3: float = Field(FLOAT, number=3)
cell_4 class-attribute instance-attribute 
cell_4: float = Field(FLOAT, number=4)

BatterySafetyEvents

aold_events_count class-attribute instance-attribute 
aold_events_count: int = Field(UINT32, number=13)
aold_last_event class-attribute instance-attribute 
aold_last_event: int = Field(UINT32, number=14)
ascc_events_count class-attribute instance-attribute 
ascc_events_count: int = Field(UINT32, number=17)
ascc_last_event class-attribute instance-attribute 
ascc_last_event: int = Field(UINT32, number=18)
ascd_events_count class-attribute instance-attribute 
ascd_events_count: int = Field(UINT32, number=15)
ascd_last_event class-attribute instance-attribute 
ascd_last_event: int = Field(UINT32, number=16)
cov_events_count class-attribute instance-attribute 
cov_events_count: int = Field(UINT32, number=1)
cov_last_event class-attribute instance-attribute 
cov_last_event: int = Field(UINT32, number=2)
cuv_events_count class-attribute instance-attribute 
cuv_events_count: int = Field(UINT32, number=3)
cuv_last_event class-attribute instance-attribute 
cuv_last_event: int = Field(UINT32, number=4)
occ1_events_count class-attribute instance-attribute 
occ1_events_count: int = Field(UINT32, number=9)
occ1_last_event class-attribute instance-attribute 
occ1_last_event: int = Field(UINT32, number=10)
occ2_events_count class-attribute instance-attribute 
occ2_events_count: int = Field(UINT32, number=11)
occ2_last_event class-attribute instance-attribute 
occ2_last_event: int = Field(UINT32, number=12)
ocd1_events_count class-attribute instance-attribute 
ocd1_events_count: int = Field(UINT32, number=5)
ocd1_last_event class-attribute instance-attribute 
ocd1_last_event: int = Field(UINT32, number=6)
ocd2_events_count class-attribute instance-attribute 
ocd2_events_count: int = Field(UINT32, number=7)
ocd2_last_event class-attribute instance-attribute 
ocd2_last_event: int = Field(UINT32, number=8)
otc_events_count class-attribute instance-attribute 
otc_events_count: int = Field(UINT32, number=19)
otc_last_event class-attribute instance-attribute 
otc_last_event: int = Field(UINT32, number=20)
otd_events_count class-attribute instance-attribute 
otd_events_count: int = Field(UINT32, number=21)
otd_last_event class-attribute instance-attribute 
otd_last_event: int = Field(UINT32, number=22)
otf_events_count class-attribute instance-attribute 
otf_events_count: int = Field(UINT32, number=23)
otf_last_event class-attribute instance-attribute 
otf_last_event: int = Field(UINT32, number=24)

BatteryStatus

Battery status from BQ40Z50 ref data sheet 0x16.

Classes:

  • BatteryError –

    Battery error code from BQ40Z50 BMS data sheet.

discharging_or_relax class-attribute instance-attribute 
discharging_or_relax: bool = Field(BOOL, number=8)
error class-attribute instance-attribute 
error: "BatteryBQ40Z50.BatteryStatus.BatteryError" = Field(
    ENUM,
    number=11,
    enum="BatteryBQ40Z50.BatteryStatus.BatteryError",
)
fully_charged class-attribute instance-attribute 
fully_charged: bool = Field(BOOL, number=9)
fully_discharged class-attribute instance-attribute 
fully_discharged: bool = Field(BOOL, number=10)
initialization class-attribute instance-attribute 
initialization: bool = Field(BOOL, number=7)
over_temperature_alarm class-attribute instance-attribute 
over_temperature_alarm: bool = Field(BOOL, number=3)
overcharged_alarm class-attribute instance-attribute 
overcharged_alarm: bool = Field(BOOL, number=1)
remaining_capacity_alarm class-attribute instance-attribute 
remaining_capacity_alarm: bool = Field(BOOL, number=5)
remaining_time_alarm class-attribute instance-attribute 
remaining_time_alarm: bool = Field(BOOL, number=6)
terminate_charge_alarm class-attribute instance-attribute 
terminate_charge_alarm: bool = Field(BOOL, number=2)
terminate_discharge_alarm class-attribute instance-attribute 
terminate_discharge_alarm: bool = Field(BOOL, number=4)
BatteryError

Battery error code from BQ40Z50 BMS data sheet.

BATTERY_ERROR_ACCESS_DENIED class-attribute instance-attribute 
BATTERY_ERROR_ACCESS_DENIED = 5
BATTERY_ERROR_BAD_SIZE class-attribute instance-attribute 
BATTERY_ERROR_BAD_SIZE = 7
BATTERY_ERROR_BUSY class-attribute instance-attribute 
BATTERY_ERROR_BUSY = 2
BATTERY_ERROR_OK class-attribute instance-attribute 
BATTERY_ERROR_OK = 1
BATTERY_ERROR_OVERFLOW_UNDERFLOW class-attribute instance-attribute 
BATTERY_ERROR_OVERFLOW_UNDERFLOW = 6
BATTERY_ERROR_RESERVED_COMMAND class-attribute instance-attribute 
BATTERY_ERROR_RESERVED_COMMAND = 3
BATTERY_ERROR_UNKNOWN_ERROR class-attribute instance-attribute 
BATTERY_ERROR_UNKNOWN_ERROR = 8
BATTERY_ERROR_UNSPECIFIED class-attribute instance-attribute 
BATTERY_ERROR_UNSPECIFIED = 0
BATTERY_ERROR_UNSUPPORTED_COMMAND class-attribute instance-attribute 
BATTERY_ERROR_UNSUPPORTED_COMMAND = 4

Temperature

Battery temperature.

average class-attribute instance-attribute 
average: float = Field(FLOAT, number=1)
cell_1 class-attribute instance-attribute 
cell_1: float = Field(FLOAT, number=2)
cell_2 class-attribute instance-attribute 
cell_2: float = Field(FLOAT, number=3)
cell_3 class-attribute instance-attribute 
cell_3: float = Field(FLOAT, number=4)
cell_4 class-attribute instance-attribute 
cell_4: float = Field(FLOAT, number=5)

Voltage

Battery voltage levels.

cell_1 class-attribute instance-attribute 
cell_1: float = Field(FLOAT, number=2)
cell_2 class-attribute instance-attribute 
cell_2: float = Field(FLOAT, number=3)
cell_3 class-attribute instance-attribute 
cell_3: float = Field(FLOAT, number=4)
cell_4 class-attribute instance-attribute 
cell_4: float = Field(FLOAT, number=5)
total class-attribute instance-attribute 
total: float = Field(FLOAT, number=1)

BinlogRecord

Wrapper message for each entry in the drone telemetry logfile. Each entry contains the unix timestamp in UTC, the monotonic timestamp (time since boot), and an Any message wrapping the custom Blueye message.

See separate documentation for the logfile format for more details.

clock_monotonic class-attribute instance-attribute 

clock_monotonic: Timestamp = Field(
    MESSAGE, number=3, message=Timestamp
)

payload class-attribute instance-attribute 

payload: Any = Field(MESSAGE, number=1, message=Any)

unix_timestamp class-attribute instance-attribute 

unix_timestamp: Timestamp = Field(
    MESSAGE, number=2, message=Timestamp
)

CPUInfo

CPU information

Contains information about the CPU load and memory usage of the drone.

cpu_load class-attribute instance-attribute 

cpu_load: float = Field(FLOAT, number=1)

guestport_queue_load class-attribute instance-attribute 

guestport_queue_load: float = Field(FLOAT, number=4)

main_queue_load class-attribute instance-attribute 

main_queue_load: float = Field(FLOAT, number=3)

memory_bus_load class-attribute instance-attribute 

memory_bus_load: float = Field(FLOAT, number=2)

CPUTemperature

CPU temperature.

value class-attribute instance-attribute 

value: float = Field(FLOAT, number=1)

CalibrationState

Compass calibration state.

Classes:

  • Status –

    Status of the compass calibration procedure.

progress_thruster class-attribute instance-attribute 

progress_thruster: float = Field(FLOAT, number=8)

progress_x_negative class-attribute instance-attribute 

progress_x_negative: float = Field(FLOAT, number=3)

progress_x_positive class-attribute instance-attribute 

progress_x_positive: float = Field(FLOAT, number=2)

progress_y_negative class-attribute instance-attribute 

progress_y_negative: float = Field(FLOAT, number=5)

progress_y_positive class-attribute instance-attribute 

progress_y_positive: float = Field(FLOAT, number=4)

progress_z_negative class-attribute instance-attribute 

progress_z_negative: float = Field(FLOAT, number=7)

progress_z_positive class-attribute instance-attribute 

progress_z_positive: float = Field(FLOAT, number=6)

status class-attribute instance-attribute 

status: Status = Field(ENUM, number=1, enum=Status)

Status

Status of the compass calibration procedure.

When calibration is started, the status will indicate the active (upfacing) axis.

STATUS_CALIBRATING_NO_AXIS class-attribute instance-attribute 
STATUS_CALIBRATING_NO_AXIS = 2

Compass is calibrating but active calibration axis cannot be determined

STATUS_CALIBRATING_THRUSTER class-attribute instance-attribute 
STATUS_CALIBRATING_THRUSTER = 9

Compass is calibrating for thruster interferance

STATUS_CALIBRATING_X_NEGATIVE class-attribute instance-attribute 
STATUS_CALIBRATING_X_NEGATIVE = 4

Compass is calibrating and the negative X axis is active

STATUS_CALIBRATING_X_POSITIVE class-attribute instance-attribute 
STATUS_CALIBRATING_X_POSITIVE = 3

Compass is calibrating and the positive X axis is active

STATUS_CALIBRATING_Y_NEGATIVE class-attribute instance-attribute 
STATUS_CALIBRATING_Y_NEGATIVE = 6

Compass is calibrating and the negative Y axis is active

STATUS_CALIBRATING_Y_POSITIVE class-attribute instance-attribute 
STATUS_CALIBRATING_Y_POSITIVE = 5

Compass is calibrating and the positive Y axis is active

STATUS_CALIBRATING_Z_NEGATIVE class-attribute instance-attribute 
STATUS_CALIBRATING_Z_NEGATIVE = 8

Compass is calibrating and the negative Z axis is active

STATUS_CALIBRATING_Z_POSITIVE class-attribute instance-attribute 
STATUS_CALIBRATING_Z_POSITIVE = 7

Compass is calibrating and the positive Z axis is active

STATUS_NOT_CALIBRATING class-attribute instance-attribute 
STATUS_NOT_CALIBRATING = 1

Compass is not currently calibrating

STATUS_UNSPECIFIED class-attribute instance-attribute 
STATUS_UNSPECIFIED = 0

Unspecified status

Camera

Which camera to control.

CAMERA_GUESTPORT class-attribute instance-attribute 

CAMERA_GUESTPORT = 2

Guestport camera

CAMERA_MAIN class-attribute instance-attribute 

CAMERA_MAIN = 1

Main camera

CAMERA_UNSPECIFIED class-attribute instance-attribute 

CAMERA_UNSPECIFIED = 0

Camera not specified

CameraParameters

Camera parameters.

camera class-attribute instance-attribute 

camera: 'Camera' = Field(ENUM, number=8, enum='Camera')

exposure class-attribute instance-attribute 

exposure: int = Field(INT32, number=3)

framerate class-attribute instance-attribute 

framerate: "Framerate" = Field(
    ENUM, number=7, enum="Framerate"
)

gain class-attribute instance-attribute 

gain: float = Field(FLOAT, number=9)

h264_bitrate class-attribute instance-attribute 

h264_bitrate: int = Field(INT32, number=1)

hue class-attribute instance-attribute 

hue: int = Field(INT32, number=5)

mjpg_bitrate class-attribute instance-attribute 

mjpg_bitrate: int = Field(INT32, number=2)

resolution class-attribute instance-attribute 

resolution: "Resolution" = Field(
    ENUM, number=6, enum="Resolution"
)

white_balance class-attribute instance-attribute 

white_balance: int = Field(INT32, number=4)

CanisterHumidity

Canister humidity.

Humidity measured in the top or bottom canister of the drone.

humidity class-attribute instance-attribute 

humidity: float = Field(FLOAT, number=3)

CanisterTemperature

Canister temperature.

Temperature measured in the top or bottom canister of the drone.

temperature class-attribute instance-attribute 

temperature: float = Field(FLOAT, number=3)

ClientInfo

Information about a remote client.

device_type class-attribute instance-attribute 

device_type: str = Field(STRING, number=3)

is_observer class-attribute instance-attribute 

is_observer: bool = Field(BOOL, number=7)

name class-attribute instance-attribute 

name: str = Field(STRING, number=6)

platform class-attribute instance-attribute 

platform: str = Field(STRING, number=4)

platform_version class-attribute instance-attribute 

platform_version: str = Field(STRING, number=5)

type_ class-attribute instance-attribute 

type_: str = Field(STRING, number=1)

version class-attribute instance-attribute 

version: str = Field(STRING, number=2)

ConnectedClient

Information about a connected client with an id assigned by the drone.

client_id class-attribute instance-attribute 

client_id: int = Field(UINT32, number=1)

client_info class-attribute instance-attribute 

client_info: "ClientInfo" = Field(
    MESSAGE, number=2, message="ClientInfo"
)

ConnectionDuration

Connection duration of a remote client.

value class-attribute instance-attribute 

value: int = Field(INT32, number=1)

ControlForce

Control Force is used for showing the requested control force in each direction in Newtons.

heave class-attribute instance-attribute 

heave: float = Field(FLOAT, number=3)

surge class-attribute instance-attribute 

surge: float = Field(FLOAT, number=1)

sway class-attribute instance-attribute 

sway: float = Field(FLOAT, number=2)

yaw class-attribute instance-attribute 

yaw: float = Field(FLOAT, number=4)

ControlMode

Control mode from drone supervisor

auto_altitude class-attribute instance-attribute 

auto_altitude: bool = Field(BOOL, number=3)

auto_depth class-attribute instance-attribute 

auto_depth: bool = Field(BOOL, number=1)

auto_heading class-attribute instance-attribute 

auto_heading: bool = Field(BOOL, number=2)

auto_pilot_heave class-attribute instance-attribute 

auto_pilot_heave: bool = Field(BOOL, number=7)

auto_pilot_surge_yaw class-attribute instance-attribute 

auto_pilot_surge_yaw: bool = Field(BOOL, number=6)

station_keeping class-attribute instance-attribute 

station_keeping: bool = Field(BOOL, number=4)

weather_vaning class-attribute instance-attribute 

weather_vaning: bool = Field(BOOL, number=5)

ControllerHealth

Controller health is used for showing the state of the controller with an relative error and load from 0 to 1.

depth_error class-attribute instance-attribute 

depth_error: float = Field(FLOAT, number=1)

depth_health class-attribute instance-attribute 

depth_health: float = Field(FLOAT, number=2)

heading_error class-attribute instance-attribute 

heading_error: float = Field(FLOAT, number=3)

heading_health class-attribute instance-attribute 

heading_health: float = Field(FLOAT, number=4)

CpProbe

Reading from a Cathodic Protection Potential probe.

is_measurement_valid class-attribute instance-attribute 

is_measurement_valid: bool = Field(BOOL, number=2)

measurement class-attribute instance-attribute 

measurement: float = Field(FLOAT, number=1)

Depth

Water depth of the drone.

value class-attribute instance-attribute 

value: float = Field(FLOAT, number=1)

DepthUnit

Available depth units.

DEPTH_UNIT_FEET class-attribute instance-attribute 

DEPTH_UNIT_FEET = 2

Depth should be displayed as feet

DEPTH_UNIT_METERS class-attribute instance-attribute 

DEPTH_UNIT_METERS = 1

Depth should be displayed as meters

DEPTH_UNIT_UNSPECIFIED class-attribute instance-attribute 

DEPTH_UNIT_UNSPECIFIED = 0

Depth unit not specified

DiveTime

Amount of time the drone has been submerged.

The drone starts incrementing this value when the depth is above 250 mm.

value class-attribute instance-attribute 

value: int = Field(INT32, number=1)

DroneInfo

Information about the drone.

This message contains serial numbers and version information for internal components in the drone. Primarily used for diagnostics, or to determine the origin of a logfile.

bb_serial class-attribute instance-attribute 

bb_serial: bytes = Field(BYTES, number=6)

bb_uid class-attribute instance-attribute 

bb_uid: bytes = Field(BYTES, number=8)

blunux_version class-attribute instance-attribute 

blunux_version: str = Field(STRING, number=1)

depth_sensor class-attribute instance-attribute 

depth_sensor: "PressureSensorType" = Field(
    ENUM, number=11, enum="PressureSensorType"
)

ds_serial class-attribute instance-attribute 

ds_serial: bytes = Field(BYTES, number=10)

gp class-attribute instance-attribute 

gp: "GuestPortInfo" = Field(
    MESSAGE, number=9, message="GuestPortInfo"
)

hardware_id class-attribute instance-attribute 

hardware_id: bytes = Field(BYTES, number=3)

mb_serial class-attribute instance-attribute 

mb_serial: bytes = Field(BYTES, number=5)

mb_uid class-attribute instance-attribute 

mb_uid: bytes = Field(BYTES, number=7)

model class-attribute instance-attribute 

model: 'Model' = Field(ENUM, number=4, enum='Model')

serial_number class-attribute instance-attribute 

serial_number: bytes = Field(BYTES, number=2)

DvlTransducer

DVL raw transducer data.

beam_valid class-attribute instance-attribute 

beam_valid: bool = Field(BOOL, number=4)

distance class-attribute instance-attribute 

distance: float = Field(FLOAT, number=3)

id class-attribute instance-attribute 

id: int = Field(INT32, number=1)

nsd class-attribute instance-attribute 

nsd: float = Field(FLOAT, number=6)

rssi class-attribute instance-attribute 

rssi: float = Field(FLOAT, number=5)

velocity class-attribute instance-attribute 

velocity: float = Field(FLOAT, number=2)

DvlVelocity

DVL raw velocity data.

delta_time class-attribute instance-attribute 

delta_time: float = Field(FLOAT, number=3)

fom class-attribute instance-attribute 

fom: float = Field(FLOAT, number=4)

is_water_tracking class-attribute instance-attribute 

is_water_tracking: bool = Field(BOOL, number=6)

sensor_id class-attribute instance-attribute 

sensor_id: "NavigationSensorID" = Field(
    ENUM, number=1, enum="NavigationSensorID"
)

status class-attribute instance-attribute 

status: int = Field(INT32, number=2)

transducers class-attribute instance-attribute 

transducers: MutableSequence["DvlTransducer"] = (
    RepeatedField(
        MESSAGE, number=7, message="DvlTransducer"
    )
)

velocity class-attribute instance-attribute 

velocity: "Vector3" = Field(
    MESSAGE, number=5, message="Vector3"
)

ErrorFlags

Known error states for the drone.

bb_eeprom_not_flashed class-attribute instance-attribute 

bb_eeprom_not_flashed: bool = Field(BOOL, number=29)

bb_eeprom_read class-attribute instance-attribute 

bb_eeprom_read: bool = Field(BOOL, number=27)

bb_serial class-attribute instance-attribute 

bb_serial: bool = Field(BOOL, number=35)

compass_calibration class-attribute instance-attribute 

compass_calibration: bool = Field(BOOL, number=7)

depth_read class-attribute instance-attribute 

depth_read: bool = Field(BOOL, number=3)

depth_spike class-attribute instance-attribute 

depth_spike: bool = Field(BOOL, number=4)

drone_serial class-attribute instance-attribute 

drone_serial: bool = Field(BOOL, number=25)

drone_serial_not_set class-attribute instance-attribute 

drone_serial_not_set: bool = Field(BOOL, number=24)

ds_serial class-attribute instance-attribute 

ds_serial: bool = Field(BOOL, number=36)

dvl_no_power class-attribute instance-attribute 

dvl_no_power: bool = Field(BOOL, number=44)

dvl_thermal_protection_mode class-attribute instance-attribute 

dvl_thermal_protection_mode: bool = Field(BOOL, number=43)

gp1_bat_current class-attribute instance-attribute 

gp1_bat_current: bool = Field(BOOL, number=39)

gp1_device class-attribute instance-attribute 

gp1_device: bool = Field(BOOL, number=21)

gp1_device_connection class-attribute instance-attribute 

gp1_device_connection: bool = Field(BOOL, number=18)

gp1_not_flashed class-attribute instance-attribute 

gp1_not_flashed: bool = Field(BOOL, number=12)

gp1_read class-attribute instance-attribute 

gp1_read: bool = Field(BOOL, number=9)

gp1_unknown_device class-attribute instance-attribute 

gp1_unknown_device: bool = Field(BOOL, number=15)

gp2_bat_current class-attribute instance-attribute 

gp2_bat_current: bool = Field(BOOL, number=40)

gp2_device class-attribute instance-attribute 

gp2_device: bool = Field(BOOL, number=22)

gp2_device_connection class-attribute instance-attribute 

gp2_device_connection: bool = Field(BOOL, number=19)

gp2_not_flashed class-attribute instance-attribute 

gp2_not_flashed: bool = Field(BOOL, number=13)

gp2_read class-attribute instance-attribute 

gp2_read: bool = Field(BOOL, number=10)

gp2_unknown_device class-attribute instance-attribute 

gp2_unknown_device: bool = Field(BOOL, number=16)

gp3_bat_current class-attribute instance-attribute 

gp3_bat_current: bool = Field(BOOL, number=41)

gp3_device class-attribute instance-attribute 

gp3_device: bool = Field(BOOL, number=23)

gp3_device_connection class-attribute instance-attribute 

gp3_device_connection: bool = Field(BOOL, number=20)

gp3_not_flashed class-attribute instance-attribute 

gp3_not_flashed: bool = Field(BOOL, number=14)

gp3_read class-attribute instance-attribute 

gp3_read: bool = Field(BOOL, number=11)

gp3_unknown_device class-attribute instance-attribute 

gp3_unknown_device: bool = Field(BOOL, number=17)

gp_20v_current class-attribute instance-attribute 

gp_20v_current: bool = Field(BOOL, number=42)

gp_current class-attribute instance-attribute 

gp_current: bool = Field(BOOL, number=38)

gp_current_read class-attribute instance-attribute 

gp_current_read: bool = Field(BOOL, number=37)

guestport_camera_connection class-attribute instance-attribute 

guestport_camera_connection: bool = Field(BOOL, number=32)

guestport_camera_firmware class-attribute instance-attribute 

guestport_camera_firmware: bool = Field(BOOL, number=33)

inner_pressure_read class-attribute instance-attribute 

inner_pressure_read: bool = Field(BOOL, number=5)

inner_pressure_spike class-attribute instance-attribute 

inner_pressure_spike: bool = Field(BOOL, number=6)

main_camera_connection class-attribute instance-attribute 

main_camera_connection: bool = Field(BOOL, number=30)

main_camera_firmware class-attribute instance-attribute 

main_camera_firmware: bool = Field(BOOL, number=31)

mb_eeprom_not_flashed class-attribute instance-attribute 

mb_eeprom_not_flashed: bool = Field(BOOL, number=28)

mb_eeprom_read class-attribute instance-attribute 

mb_eeprom_read: bool = Field(BOOL, number=26)

mb_serial class-attribute instance-attribute 

mb_serial: bool = Field(BOOL, number=34)

pmu_comm_ack class-attribute instance-attribute 

pmu_comm_ack: bool = Field(BOOL, number=1)

pmu_comm_stream class-attribute instance-attribute 

pmu_comm_stream: bool = Field(BOOL, number=2)

tilt_calibration class-attribute instance-attribute 

tilt_calibration: bool = Field(BOOL, number=8)

usb_disconnect class-attribute instance-attribute 

usb_disconnect: bool = Field(BOOL, number=45)

video_urb_error class-attribute instance-attribute 

video_urb_error: bool = Field(BOOL, number=46)

FontSize

Available font sizes for overlay text elements.

FONT_SIZE_PX15 class-attribute instance-attribute 

FONT_SIZE_PX15 = 1

15 px

FONT_SIZE_PX20 class-attribute instance-attribute 

FONT_SIZE_PX20 = 2

20 px

FONT_SIZE_PX25 class-attribute instance-attribute 

FONT_SIZE_PX25 = 3

25 px

FONT_SIZE_PX30 class-attribute instance-attribute 

FONT_SIZE_PX30 = 4

30 px

FONT_SIZE_PX35 class-attribute instance-attribute 

FONT_SIZE_PX35 = 5

35 px

FONT_SIZE_PX40 class-attribute instance-attribute 

FONT_SIZE_PX40 = 6

40 px

FONT_SIZE_UNSPECIFIED class-attribute instance-attribute 

FONT_SIZE_UNSPECIFIED = 0

Font size not specified

ForwardDistance

Distance to an object in front of the drone

Typically obtained from a 1D pinger.

is_valid class-attribute instance-attribute 

is_valid: bool = Field(BOOL, number=2)

value class-attribute instance-attribute 

value: float = Field(FLOAT, number=1)

Framerate

Available camera frame rates.

FRAMERATE_FPS_25 class-attribute instance-attribute 

FRAMERATE_FPS_25 = 2

25 frames per second

FRAMERATE_FPS_30 class-attribute instance-attribute 

FRAMERATE_FPS_30 = 1

30 frames per second

FRAMERATE_UNSPECIFIED class-attribute instance-attribute 

FRAMERATE_UNSPECIFIED = 0

Framerate not specified

GenericServo

Servo message used to represent the angle of the servo.

guest_port_number class-attribute instance-attribute 

guest_port_number: "GuestPortNumber" = Field(
    ENUM, number=2, enum="GuestPortNumber"
)

value class-attribute instance-attribute 

value: float = Field(FLOAT, number=1)

GripperVelocities

Gripper velocity values.

grip_velocity class-attribute instance-attribute 

grip_velocity: float = Field(FLOAT, number=1)

rotate_velocity class-attribute instance-attribute 

rotate_velocity: float = Field(FLOAT, number=2)

GuestPortConnectorInfo

GuestPort connector information.

This message has oneof_ fields (mutually exclusive fields). For each oneof, at most one member field can be set at the same time. Setting any member of the oneof automatically clears all other members.

.. _oneof: https://proto-plus-python.readthedocs.io/en/stable/fields.html#oneofs-mutually-exclusive-fields

device_list class-attribute instance-attribute 

device_list: "GuestPortDeviceList" = Field(
    MESSAGE,
    number=1,
    oneof="connected_device",
    message="GuestPortDeviceList",
)

error class-attribute instance-attribute 

error: "GuestPortError" = Field(
    ENUM,
    number=2,
    oneof="connected_device",
    enum="GuestPortError",
)

guest_port_number class-attribute instance-attribute 

guest_port_number: "GuestPortNumber" = Field(
    ENUM, number=3, enum="GuestPortNumber"
)

GuestPortCurrent

GuestPort current readings.

gp1_bat class-attribute instance-attribute 

gp1_bat: float = Field(DOUBLE, number=1)

gp2_bat class-attribute instance-attribute 

gp2_bat: float = Field(DOUBLE, number=2)

gp3_bat class-attribute instance-attribute 

gp3_bat: float = Field(DOUBLE, number=3)

gp_20v class-attribute instance-attribute 

gp_20v: float = Field(DOUBLE, number=4)

GuestPortDetachStatus

GuestPort detach status.

GUEST_PORT_DETACH_STATUS_ATTACHED class-attribute instance-attribute 

GUEST_PORT_DETACH_STATUS_ATTACHED = 1

Detachable device attached

GUEST_PORT_DETACH_STATUS_DETACHED class-attribute instance-attribute 

GUEST_PORT_DETACH_STATUS_DETACHED = 2

Detachable device detached

GUEST_PORT_DETACH_STATUS_UNSPECIFIED class-attribute instance-attribute 

GUEST_PORT_DETACH_STATUS_UNSPECIFIED = 0

Unspecified (Default for non-detachable devices)

GuestPortDevice

GuestPort device.

depth_rating class-attribute instance-attribute 

depth_rating: float = Field(FLOAT, number=5)

detach_status class-attribute instance-attribute 

detach_status: "GuestPortDetachStatus" = Field(
    ENUM, number=7, enum="GuestPortDetachStatus"
)

device_id class-attribute instance-attribute 

device_id: "GuestPortDeviceID" = Field(
    ENUM, number=1, enum="GuestPortDeviceID"
)

manufacturer class-attribute instance-attribute 

manufacturer: str = Field(STRING, number=2)

name class-attribute instance-attribute 

name: str = Field(STRING, number=3)

required_blunux_version class-attribute instance-attribute 

required_blunux_version: str = Field(STRING, number=6)

serial_number class-attribute instance-attribute 

serial_number: str = Field(STRING, number=4)

GuestPortDeviceID

GuestPort device ID.

GUEST_PORT_DEVICE_ID_BLIND_PLUG class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLIND_PLUG = 1

Blueye blind plug

GUEST_PORT_DEVICE_ID_BLUEPRINT_LAB_REACH_ALPHA class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEPRINT_LAB_REACH_ALPHA = 9

Blueprint Lab Reach Alpha

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_C550D class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_C550D = 41

Blueprint Subsea Oculus C550d

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M1200D class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M1200D = 29

Blueprint Subsea Oculus M1200d

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M3000D class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M3000D = 30

Blueprint Subsea Oculus M3000d

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M370S class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M370S = 42

Blueprint Subsea Oculus M370s

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M750D class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M750D = 13

Blueprint Subsea Oculus M750d

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_SEATRAC_X010 class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_SEATRAC_X010 = 12

Blueprint Subsea Seatrac X110

GUEST_PORT_DEVICE_ID_BLUEYE_CAM class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEYE_CAM = 5

Blueye Cam

GUEST_PORT_DEVICE_ID_BLUEYE_CAMERA_SERVO class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEYE_CAMERA_SERVO = 34

Blueye Camera Servo

GUEST_PORT_DEVICE_ID_BLUEYE_GENERIC_SERVO class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEYE_GENERIC_SERVO = 22

Blueye Generic Servo

GUEST_PORT_DEVICE_ID_BLUEYE_GNSS_DEVICE class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEYE_GNSS_DEVICE = 38

Blueye GNSS device

GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT = 4

Blueye Light

GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT_PAIR class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT_PAIR = 17

Blueye Light Pair

GUEST_PORT_DEVICE_ID_BLUEYE_MULTIBEAM_HEAD_SERVO class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEYE_MULTIBEAM_HEAD_SERVO = 35

Blueye Multibeam Head Servo

GUEST_PORT_DEVICE_ID_BLUEYE_MULTIBEAM_SERVO class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUEYE_MULTIBEAM_SERVO = 23

Blueye Multibeam Skid Servo

GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_DETACHABLE_NEWTON class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_DETACHABLE_NEWTON = 24

Detachable Blue Robotics Newton

GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_LUMEN class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_LUMEN = 6

Blue Robotics Lumen

GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_NEWTON class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_NEWTON = 7

Blue Robotics Newton

GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_PING360_SONAR class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_PING360_SONAR = 15

Blue Robotics Ping360 Scanning Imaging Sonar

GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_PING_SONAR class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_PING_SONAR = 8

Blue Robotics Ping Sonar

GUEST_PORT_DEVICE_ID_CERULEAN_OMNISCAN_450FS class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_CERULEAN_OMNISCAN_450FS = 36

Cerulean Omniscan 450 FS

GUEST_PORT_DEVICE_ID_CERULEAN_OMNISCAN_450SS class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_CERULEAN_OMNISCAN_450SS = 37

Cerulean Omniscan 450 SS

GUEST_PORT_DEVICE_ID_CYGNUS_MINI_ROV_THICKNESS_GAUGE class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_CYGNUS_MINI_ROV_THICKNESS_GAUGE = 14

Cygnus Mini ROV Thickness Gauge

GUEST_PORT_DEVICE_ID_DEBUG_SERIAL class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_DEBUG_SERIAL = 3

Blueye debug serial

GUEST_PORT_DEVICE_ID_IMAGENEX_831L class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_IMAGENEX_831L = 40

Imagenex 831L Pipe Profiling Sonar

GUEST_PORT_DEVICE_ID_IMPACT_SUBSEA_ISS360 class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_IMPACT_SUBSEA_ISS360 = 11

Impact Subsea ISS360 Sonar

GUEST_PORT_DEVICE_ID_INSITU_AQUA_TROLL_100 class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_INSITU_AQUA_TROLL_100 = 31

In-Situ Aqua TROLL 100

GUEST_PORT_DEVICE_ID_INSITU_AQUA_TROLL_500 class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_INSITU_AQUA_TROLL_500 = 25

In-Situ Aqua TROLL 500

GUEST_PORT_DEVICE_ID_INSITU_RDO_BLUE class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_INSITU_RDO_BLUE = 33

In-Situ RDO Blue

GUEST_PORT_DEVICE_ID_INSITU_RDO_PRO_X class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_INSITU_RDO_PRO_X = 32

In-Situ RDO PRO-X

GUEST_PORT_DEVICE_ID_LASER_TOOLS_SEA_BEAM class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_LASER_TOOLS_SEA_BEAM = 27

Laser Tools Sea Beam Underwater Laser

GUEST_PORT_DEVICE_ID_MEDUSA_RADIOMETRICS_MS100 class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_MEDUSA_RADIOMETRICS_MS100 = 26

Medusa Radiometrics Gamma Ray Sensor

GUEST_PORT_DEVICE_ID_NORTEK_NUCLEUS_1000 class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_NORTEK_NUCLEUS_1000 = 21

Nortek Nucleus 1000 DVL

GUEST_PORT_DEVICE_ID_OCEAN_TOOLS_DIGICP class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_OCEAN_TOOLS_DIGICP = 19

Ocean Tools DigiCP

GUEST_PORT_DEVICE_ID_SPOT_X_LASER_SCALERS class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_SPOT_X_LASER_SCALERS = 28

Spot X Laser Scalers

GUEST_PORT_DEVICE_ID_TEST_STATION class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_TEST_STATION = 2

Blueye test station

GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_720IK class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_720IK = 20

Tritech Gemini 720ik Multibeam Sonar

GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_720IM class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_720IM = 16

Tritech Gemini 720im Multibeam Sonar

GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_MICRON class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_MICRON = 18

Tritech Micron Gemini

GUEST_PORT_DEVICE_ID_UNSPECIFIED class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_UNSPECIFIED = 0

Unspecified

GUEST_PORT_DEVICE_ID_WATERLINKED_DVL_A50 class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_WATERLINKED_DVL_A50 = 10

Waterlinked DVL A50

GUEST_PORT_DEVICE_ID_WATERLINKED_DVL_A50_600 class-attribute instance-attribute 

GUEST_PORT_DEVICE_ID_WATERLINKED_DVL_A50_600 = 39

Waterlinked DVL A50 600m

GuestPortDeviceList

List of guest port devices.

devices class-attribute instance-attribute 

devices: MutableSequence["GuestPortDevice"] = RepeatedField(
    MESSAGE, number=1, message="GuestPortDevice"
)

GuestPortError

GuestPort error. Only indicated errors on the guest port connector itself.

GUEST_PORT_ERROR_CRC_ERROR class-attribute instance-attribute 

GUEST_PORT_ERROR_CRC_ERROR = 4

Wrong CRC for protobuf message

GUEST_PORT_ERROR_NOT_CONNECTED class-attribute instance-attribute 

GUEST_PORT_ERROR_NOT_CONNECTED = 1

Device not connected

GUEST_PORT_ERROR_NOT_FLASHED class-attribute instance-attribute 

GUEST_PORT_ERROR_NOT_FLASHED = 3

Connector not flashed

GUEST_PORT_ERROR_PARSE_ERROR class-attribute instance-attribute 

GUEST_PORT_ERROR_PARSE_ERROR = 5

Protobuf message cannot be parsed

GUEST_PORT_ERROR_READ_ERROR class-attribute instance-attribute 

GUEST_PORT_ERROR_READ_ERROR = 2

EEPROM read error

GUEST_PORT_ERROR_UNSPECIFIED class-attribute instance-attribute 

GUEST_PORT_ERROR_UNSPECIFIED = 0

Unspecified value

GuestPortInfo

GuestPort information.

gp1 class-attribute instance-attribute 

gp1: "GuestPortConnectorInfo" = Field(
    MESSAGE, number=1, message="GuestPortConnectorInfo"
)

gp2 class-attribute instance-attribute 

gp2: "GuestPortConnectorInfo" = Field(
    MESSAGE, number=2, message="GuestPortConnectorInfo"
)

gp3 class-attribute instance-attribute 

gp3: "GuestPortConnectorInfo" = Field(
    MESSAGE, number=3, message="GuestPortConnectorInfo"
)

GuestPortNumber

GuestPort number.

GUEST_PORT_NUMBER_PORT_1 class-attribute instance-attribute 

GUEST_PORT_NUMBER_PORT_1 = 1

Guest port 1

GUEST_PORT_NUMBER_PORT_2 class-attribute instance-attribute 

GUEST_PORT_NUMBER_PORT_2 = 2

Guest port 2

GUEST_PORT_NUMBER_PORT_3 class-attribute instance-attribute 

GUEST_PORT_NUMBER_PORT_3 = 3

Guest port 3

GUEST_PORT_NUMBER_UNSPECIFIED class-attribute instance-attribute 

GUEST_PORT_NUMBER_UNSPECIFIED = 0

Unspecified

GuestPortRestartInfo

GuestPort restart information.

power_off_duration class-attribute instance-attribute 

power_off_duration: float = Field(DOUBLE, number=1)

HeadingSource

Heading source used during reset of the position estimate.

HEADING_SOURCE_DRONE_COMPASS class-attribute instance-attribute 

HEADING_SOURCE_DRONE_COMPASS = 1

Uses the drone compass to set the heading

HEADING_SOURCE_MANUAL_INPUT class-attribute instance-attribute 

HEADING_SOURCE_MANUAL_INPUT = 2

Used when the user sets the heading manually

HEADING_SOURCE_UNSPECIFIED class-attribute instance-attribute 

HEADING_SOURCE_UNSPECIFIED = 0

Unspecified

Imu

Imu data in drone body frame

x - forward y - right z - down

accelerometer class-attribute instance-attribute 

accelerometer: "Vector3" = Field(
    MESSAGE, number=1, message="Vector3"
)

gyroscope class-attribute instance-attribute 

gyroscope: "Vector3" = Field(
    MESSAGE, number=2, message="Vector3"
)

magnetometer class-attribute instance-attribute 

magnetometer: "Vector3" = Field(
    MESSAGE, number=3, message="Vector3"
)

temperature class-attribute instance-attribute 

temperature: float = Field(FLOAT, number=4)

IntervalType

Interval type for time-lapse photos.

INTERVAL_TYPE_DISTANCE class-attribute instance-attribute 

INTERVAL_TYPE_DISTANCE = 2

Distance interval

INTERVAL_TYPE_TIME class-attribute instance-attribute 

INTERVAL_TYPE_TIME = 1

Time interval

INTERVAL_TYPE_UNSPECIFIED class-attribute instance-attribute 

INTERVAL_TYPE_UNSPECIFIED = 0

Unspecified

IperfStatus

Connection speed between drone and Surface Unit.

received class-attribute instance-attribute 

received: float = Field(FLOAT, number=2)

sent class-attribute instance-attribute 

sent: float = Field(FLOAT, number=1)

Laser

Laser message used to represent the intensity of connected laser. If the laser does not support dimming but only on and off, a value of 0 turns the laser off, and any value above 0 turns the laser on.

value class-attribute instance-attribute 

value: float = Field(FLOAT, number=1)

LatLongPosition

Latitude and longitude position in WGS 84 decimal degrees format.

latitude class-attribute instance-attribute 

latitude: float = Field(DOUBLE, number=1)

longitude class-attribute instance-attribute 

longitude: float = Field(DOUBLE, number=2)

Lights

Lights message used to represent the intensity of the main light or external lights.

value class-attribute instance-attribute 

value: float = Field(FLOAT, number=1)

LogoType

Available logo types.

LOGO_TYPE_CUSTOM class-attribute instance-attribute 

LOGO_TYPE_CUSTOM = 3

Add user defined logo

LOGO_TYPE_DEFAULT class-attribute instance-attribute 

LOGO_TYPE_DEFAULT = 2

Add default logo

LOGO_TYPE_NONE class-attribute instance-attribute 

LOGO_TYPE_NONE = 1

Do not add any logo

LOGO_TYPE_UNSPECIFIED class-attribute instance-attribute 

LOGO_TYPE_UNSPECIFIED = 0

Logo type not specified

MedusaSpectrometerData

Medusa gamma ray sensor spectrometer data

cosmics class-attribute instance-attribute 

cosmics: int = Field(UINT32, number=5)

countrate class-attribute instance-attribute 

countrate: int = Field(UINT32, number=4)

drone_time class-attribute instance-attribute 

drone_time: Timestamp = Field(
    MESSAGE, number=6, message=Timestamp
)

livetime class-attribute instance-attribute 

livetime: float = Field(FLOAT, number=2)

realtime class-attribute instance-attribute 

realtime: float = Field(FLOAT, number=1)

sensor_time class-attribute instance-attribute 

sensor_time: Timestamp = Field(
    MESSAGE, number=7, message=Timestamp
)

total class-attribute instance-attribute 

total: int = Field(UINT32, number=3)

Model

Drone models produced by Blueye

MODEL_NEXT class-attribute instance-attribute 

MODEL_NEXT = 5

Blueye ?

MODEL_PIONEER class-attribute instance-attribute 

MODEL_PIONEER = 1

Blueye Pioneer, the first model

MODEL_PRO class-attribute instance-attribute 

MODEL_PRO = 2

Blueye Pro, features camera tilt

MODEL_UNSPECIFIED class-attribute instance-attribute 

MODEL_UNSPECIFIED = 0

ModelName not specified

MODEL_X1 class-attribute instance-attribute 

MODEL_X1 = 4

Blueye X1, features camera tilt and one guest port

MODEL_X3 class-attribute instance-attribute 

MODEL_X3 = 3

Blueye X3, features support for peripherals

MODEL_X3_ULTRA class-attribute instance-attribute 

MODEL_X3_ULTRA = 6

Blueye X3 Ultra

MotionInput

If you use both values at the same time they cancel each other out.

boost class-attribute instance-attribute 

boost: float = Field(FLOAT, number=6)

heave class-attribute instance-attribute 

heave: float = Field(FLOAT, number=3)

pitch class-attribute instance-attribute 

pitch: float = Field(FLOAT, number=8)

roll class-attribute instance-attribute 

roll: float = Field(FLOAT, number=7)

slow class-attribute instance-attribute 

slow: float = Field(FLOAT, number=5)

surge class-attribute instance-attribute 

surge: float = Field(FLOAT, number=1)

sway class-attribute instance-attribute 

sway: float = Field(FLOAT, number=2)

yaw class-attribute instance-attribute 

yaw: float = Field(FLOAT, number=4)

MultibeamConfig

Configuration message for sonar devices

Classes:

bandwidth_limit class-attribute instance-attribute 

bandwidth_limit: int = Field(UINT32, number=10)

device_id class-attribute instance-attribute 

device_id: "GuestPortDeviceID" = Field(
    ENUM, number=9, enum="GuestPortDeviceID"
)

frequency_mode class-attribute instance-attribute 

frequency_mode: "MultibeamFrequencyMode" = Field(
    ENUM, number=1, enum="MultibeamFrequencyMode"
)

gain class-attribute instance-attribute 

gain: float = Field(DOUBLE, number=7)

gain_assist class-attribute instance-attribute 

gain_assist: bool = Field(BOOL, number=4)

gamma_correction class-attribute instance-attribute 

gamma_correction: float = Field(DOUBLE, number=3)

maximum_number_of_beams class-attribute instance-attribute 

maximum_number_of_beams: MaximumNumberOfBeams = Field(
    ENUM, number=5, enum=MaximumNumberOfBeams
)

ping_rate class-attribute instance-attribute 

ping_rate: PingRate = Field(ENUM, number=2, enum=PingRate)

range_ class-attribute instance-attribute 

range_: float = Field(DOUBLE, number=6)

salinity class-attribute instance-attribute 

salinity: float = Field(DOUBLE, number=8)

MaximumNumberOfBeams

MAXIMUM_NUMBER_OF_BEAMS_MAX_1024 class-attribute instance-attribute 
MAXIMUM_NUMBER_OF_BEAMS_MAX_1024 = 4

1024 beams

MAXIMUM_NUMBER_OF_BEAMS_MAX_128 class-attribute instance-attribute 
MAXIMUM_NUMBER_OF_BEAMS_MAX_128 = 1

128 beams

MAXIMUM_NUMBER_OF_BEAMS_MAX_256 class-attribute instance-attribute 
MAXIMUM_NUMBER_OF_BEAMS_MAX_256 = 2

256 beams

MAXIMUM_NUMBER_OF_BEAMS_MAX_512 class-attribute instance-attribute 
MAXIMUM_NUMBER_OF_BEAMS_MAX_512 = 3

512 beams

MAXIMUM_NUMBER_OF_BEAMS_UNSPECIFIED class-attribute instance-attribute 
MAXIMUM_NUMBER_OF_BEAMS_UNSPECIFIED = 0

PingRate

PING_RATE_HIGH class-attribute instance-attribute 
PING_RATE_HIGH = 2

15Hz max ping rate

PING_RATE_HIGHEST class-attribute instance-attribute 
PING_RATE_HIGHEST = 3

40Hz max ping rate

PING_RATE_LOW class-attribute instance-attribute 
PING_RATE_LOW = 4

5Hz max ping rate

PING_RATE_LOWEST class-attribute instance-attribute 
PING_RATE_LOWEST = 5

2Hz max ping rate

PING_RATE_NORMAL class-attribute instance-attribute 
PING_RATE_NORMAL = 1

10Hz max ping rate

PING_RATE_STANDBY class-attribute instance-attribute 
PING_RATE_STANDBY = 6

Disable ping

PING_RATE_UNSPECIFIED class-attribute instance-attribute 
PING_RATE_UNSPECIFIED = 0

MultibeamDiscovery

Discovery message for sonar devices

connected_ip class-attribute instance-attribute 

connected_ip: str = Field(STRING, number=6)

device_id class-attribute instance-attribute 

device_id: "GuestPortDeviceID" = Field(
    ENUM, number=7, enum="GuestPortDeviceID"
)

enabled class-attribute instance-attribute 

enabled: bool = Field(BOOL, number=1)

fw_version class-attribute instance-attribute 

fw_version: str = Field(STRING, number=5)

ip class-attribute instance-attribute 

ip: str = Field(STRING, number=2)

mask class-attribute instance-attribute 

mask: str = Field(STRING, number=3)

serial_number class-attribute instance-attribute 

serial_number: str = Field(STRING, number=4)

MultibeamFrameOffset

Frame offset for multibeam recordings index cache

duration class-attribute instance-attribute 

duration: Duration = Field(
    MESSAGE, number=1, message=Duration
)

offset class-attribute instance-attribute 

offset: int = Field(INT64, number=2)

MultibeamFrequencyMode

MULTIBEAM_FREQUENCY_MODE_AUTO class-attribute instance-attribute 

MULTIBEAM_FREQUENCY_MODE_AUTO = 1

Auto switching mode (if available)

MULTIBEAM_FREQUENCY_MODE_HIGH_FREQUENCY class-attribute instance-attribute 

MULTIBEAM_FREQUENCY_MODE_HIGH_FREQUENCY = 3

High frequency mode (narrow aperture, target identification)

MULTIBEAM_FREQUENCY_MODE_LOW_FREQUENCY class-attribute instance-attribute 

MULTIBEAM_FREQUENCY_MODE_LOW_FREQUENCY = 2

Low frequency mode (wide aperture, navigation)

MULTIBEAM_FREQUENCY_MODE_UNSPECIFIED class-attribute instance-attribute 

MULTIBEAM_FREQUENCY_MODE_UNSPECIFIED = 0

MultibeamPing

Multibeam sonar ping

Contains all the information for rendering a multibeam sonar frame

bearings class-attribute instance-attribute 

bearings: MutableSequence[float] = RepeatedField(
    FLOAT, number=9
)

device_id class-attribute instance-attribute 

device_id: "GuestPortDeviceID" = Field(
    ENUM, number=11, enum="GuestPortDeviceID"
)

frame_generation_timestamp class-attribute instance-attribute 

frame_generation_timestamp: Timestamp = Field(
    MESSAGE, number=12, message=Timestamp
)

frequency class-attribute instance-attribute 

frequency: float = Field(DOUBLE, number=3)

frequency_mode class-attribute instance-attribute 

frequency_mode: "MultibeamFrequencyMode" = Field(
    ENUM, number=5, enum="MultibeamFrequencyMode"
)

gain class-attribute instance-attribute 

gain: float = Field(DOUBLE, number=2)

number_of_beams class-attribute instance-attribute 

number_of_beams: int = Field(UINT32, number=7)

number_of_ranges class-attribute instance-attribute 

number_of_ranges: int = Field(UINT32, number=6)

ping_data class-attribute instance-attribute 

ping_data: bytes = Field(BYTES, number=10)

range_ class-attribute instance-attribute 

range_: float = Field(DOUBLE, number=1)

speed_of_sound_used class-attribute instance-attribute 

speed_of_sound_used: float = Field(DOUBLE, number=4)

step class-attribute instance-attribute 

step: int = Field(UINT32, number=8)

MultibeamServo

Servo message used to represent the angle of the servo.

angle class-attribute instance-attribute 

angle: float = Field(FLOAT, number=1)

MutltibeamRecordingIndex

Multibeam recording index cache

frame_offsets class-attribute instance-attribute 

frame_offsets: MutableSequence["MultibeamFrameOffset"] = (
    RepeatedField(
        MESSAGE, number=1, message="MultibeamFrameOffset"
    )
)

NStreamers

Number of spectators connected to video stream.

guestport class-attribute instance-attribute 

guestport: int = Field(INT32, number=2)

main class-attribute instance-attribute 

main: int = Field(INT32, number=1)

NavigationSensorID

List of navigation sensors that can be used by the position observer

NAVIGATION_SENSOR_ID_BLUEYE_GNSS class-attribute instance-attribute 

NAVIGATION_SENSOR_ID_BLUEYE_GNSS = 4

Blueye GNSS device on the ROV

NAVIGATION_SENSOR_ID_NMEA class-attribute instance-attribute 

NAVIGATION_SENSOR_ID_NMEA = 3

NMEA stream from external positioning system

NAVIGATION_SENSOR_ID_NORTEK_DVL_NUCLEUS class-attribute instance-attribute 

NAVIGATION_SENSOR_ID_NORTEK_DVL_NUCLEUS = 5

Nortek DVL Nucleus 1000

NAVIGATION_SENSOR_ID_UNSPECIFIED class-attribute instance-attribute 

NAVIGATION_SENSOR_ID_UNSPECIFIED = 0

Unspecified

NAVIGATION_SENSOR_ID_WATERLINKED_DVL_A50 class-attribute instance-attribute 

NAVIGATION_SENSOR_ID_WATERLINKED_DVL_A50 = 1

Water Linked DVL A50

NAVIGATION_SENSOR_ID_WATERLINKED_UGPS_G2 class-attribute instance-attribute 

NAVIGATION_SENSOR_ID_WATERLINKED_UGPS_G2 = 2

Water Linked UGPS G2

NavigationSensorStatus

Navigation sensor used in the position observer with validity state

easting class-attribute instance-attribute 

easting: float = Field(FLOAT, number=4)

fom class-attribute instance-attribute 

fom: float = Field(FLOAT, number=6)

global_position class-attribute instance-attribute 

global_position: "LatLongPosition" = Field(
    MESSAGE, number=8, message="LatLongPosition"
)

heading class-attribute instance-attribute 

heading: float = Field(FLOAT, number=5)

is_valid class-attribute instance-attribute 

is_valid: bool = Field(BOOL, number=2)

northing class-attribute instance-attribute 

northing: float = Field(FLOAT, number=3)

sensor_id class-attribute instance-attribute 

sensor_id: "NavigationSensorID" = Field(
    ENUM, number=1, enum="NavigationSensorID"
)

std class-attribute instance-attribute 

std: float = Field(FLOAT, number=7)

Notification

Notification is used for displaying info, warnings, and errors to the user.

level class-attribute instance-attribute 

level: "NotificationLevel" = Field(
    ENUM, number=2, enum="NotificationLevel"
)

timestamp class-attribute instance-attribute 

timestamp: Timestamp = Field(
    MESSAGE, number=4, message=Timestamp
)

type_ class-attribute instance-attribute 

type_: "NotificationType" = Field(
    ENUM, number=1, enum="NotificationType"
)

value class-attribute instance-attribute 

value: Any = Field(MESSAGE, number=3, message=Any)

NotificationLevel

List of available notification levels.

NOTIFICATION_LEVEL_ERROR class-attribute instance-attribute 

NOTIFICATION_LEVEL_ERROR = 3

Error

NOTIFICATION_LEVEL_INFO class-attribute instance-attribute 

NOTIFICATION_LEVEL_INFO = 1

Info

NOTIFICATION_LEVEL_UNSPECIFIED class-attribute instance-attribute 

NOTIFICATION_LEVEL_UNSPECIFIED = 0

Unspecified

NOTIFICATION_LEVEL_WARNING class-attribute instance-attribute 

NOTIFICATION_LEVEL_WARNING = 2

Warning

NotificationType

Notification is used for displaying info, warnings, and errors to the user.

NOTIFICATION_TYPE_ALTITUDE_TARGET_REACHED class-attribute instance-attribute 

NOTIFICATION_TYPE_ALTITUDE_TARGET_REACHED = 11

Altitude set point is reached

NOTIFICATION_TYPE_CAMERA_ACTION class-attribute instance-attribute 

NOTIFICATION_TYPE_CAMERA_ACTION = 27

Camera action initiated

NOTIFICATION_TYPE_DEPTH_SET_POINT_IS_TOO_FAR_AWAY class-attribute instance-attribute 

NOTIFICATION_TYPE_DEPTH_SET_POINT_IS_TOO_FAR_AWAY = 13

The depth set point is too far away

NOTIFICATION_TYPE_DEPTH_TARGET_REACHED class-attribute instance-attribute 

NOTIFICATION_TYPE_DEPTH_TARGET_REACHED = 10

Depth set point is reached

NOTIFICATION_TYPE_DRONE_IS_STUCK class-attribute instance-attribute 

NOTIFICATION_TYPE_DRONE_IS_STUCK = 25

Drone is stuck during a mission

NOTIFICATION_TYPE_DRONE_POSITION_IS_UNKNOWN class-attribute instance-attribute 

NOTIFICATION_TYPE_DRONE_POSITION_IS_UNKNOWN = 2

Drone position is unknown

NOTIFICATION_TYPE_DVL_HIGH_TEMPERATURE_DETECTED class-attribute instance-attribute 

NOTIFICATION_TYPE_DVL_HIGH_TEMPERATURE_DETECTED = 31

DVL high temperature detected

NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED class-attribute instance-attribute 

NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED = 32

DVL thermal protection mode detected

NOTIFICATION_TYPE_FAILED_TO_LOAD_MISSION class-attribute instance-attribute 

NOTIFICATION_TYPE_FAILED_TO_LOAD_MISSION = 6

Failed to load mission

NOTIFICATION_TYPE_GO_TO_DEPTH_SET_POINT class-attribute instance-attribute 

NOTIFICATION_TYPE_GO_TO_DEPTH_SET_POINT = 19

Go to depth set point

NOTIFICATION_TYPE_GO_TO_SEABED class-attribute instance-attribute 

NOTIFICATION_TYPE_GO_TO_SEABED = 17

Go to seabed with an altimeter

NOTIFICATION_TYPE_GO_TO_SURFACE class-attribute instance-attribute 

NOTIFICATION_TYPE_GO_TO_SURFACE = 16

Go to surface

NOTIFICATION_TYPE_GO_TO_WAYPOINT class-attribute instance-attribute 

NOTIFICATION_TYPE_GO_TO_WAYPOINT = 18

Go to waypoint

NOTIFICATION_TYPE_GO_TO_WAYPOINT_WITH_DEPTH_SET_POINT class-attribute instance-attribute 

NOTIFICATION_TYPE_GO_TO_WAYPOINT_WITH_DEPTH_SET_POINT = 20

Go to waypoint with depth set point

NOTIFICATION_TYPE_INSTRUCTION_COMPLETE class-attribute instance-attribute 

NOTIFICATION_TYPE_INSTRUCTION_COMPLETE = 8

Instruction is complete

NOTIFICATION_TYPE_INSTRUCTION_SKIPPED class-attribute instance-attribute 

NOTIFICATION_TYPE_INSTRUCTION_SKIPPED = 30

When an instruction is not available in the ROV

NOTIFICATION_TYPE_MISSION_ABORTED class-attribute instance-attribute 

NOTIFICATION_TYPE_MISSION_ABORTED = 24

Mission is aborted

NOTIFICATION_TYPE_MISSION_COMPLETE class-attribute instance-attribute 

NOTIFICATION_TYPE_MISSION_COMPLETE = 7

Mission is complete

NOTIFICATION_TYPE_MISSION_LOADED class-attribute instance-attribute 

NOTIFICATION_TYPE_MISSION_LOADED = 5

Mission is loaded

NOTIFICATION_TYPE_MISSION_PAUSED class-attribute instance-attribute 

NOTIFICATION_TYPE_MISSION_PAUSED = 22

Mission is paused

NOTIFICATION_TYPE_MISSION_RESUMED class-attribute instance-attribute 

NOTIFICATION_TYPE_MISSION_RESUMED = 23

Mission is resumed

NOTIFICATION_TYPE_MISSION_STARTED class-attribute instance-attribute 

NOTIFICATION_TYPE_MISSION_STARTED = 21

Mission is started

NOTIFICATION_TYPE_NO_MISSION_LOADED class-attribute instance-attribute 

NOTIFICATION_TYPE_NO_MISSION_LOADED = 4

No mission is loaded

NOTIFICATION_TYPE_POSITION_ESTIMATE_IS_INACCURATE class-attribute instance-attribute 

NOTIFICATION_TYPE_POSITION_ESTIMATE_IS_INACCURATE = 1

Position estimate is inaccurate

NOTIFICATION_TYPE_RETURNING_TO_HOME class-attribute instance-attribute 

NOTIFICATION_TYPE_RETURNING_TO_HOME = 15

Returning to home

NOTIFICATION_TYPE_SET_TILT_MAIN_CAMERA class-attribute instance-attribute 

NOTIFICATION_TYPE_SET_TILT_MAIN_CAMERA = 28

Set tilt for main camera

NOTIFICATION_TYPE_SET_TILT_MULTIBEAM class-attribute instance-attribute 

NOTIFICATION_TYPE_SET_TILT_MULTIBEAM = 29

Set tilt for multibeam

NOTIFICATION_TYPE_TIME_TO_COMPLETE_IS_TOO_LONG class-attribute instance-attribute 

NOTIFICATION_TYPE_TIME_TO_COMPLETE_IS_TOO_LONG = 14

The time to complete the mission is too long

NOTIFICATION_TYPE_UNSPECIFIED class-attribute instance-attribute 

NOTIFICATION_TYPE_UNSPECIFIED = 0

Unspecified

NOTIFICATION_TYPE_USER_POSITION_IS_UNKNOWN class-attribute instance-attribute 

NOTIFICATION_TYPE_USER_POSITION_IS_UNKNOWN = 3

User position is unknown

NOTIFICATION_TYPE_WAIT_FOR class-attribute instance-attribute 

NOTIFICATION_TYPE_WAIT_FOR = 26

Wait for instruction running

NOTIFICATION_TYPE_WAYPOINT_IS_TOO_FAR_AWAY class-attribute instance-attribute 

NOTIFICATION_TYPE_WAYPOINT_IS_TOO_FAR_AWAY = 12

The waypoint is too far away

NOTIFICATION_TYPE_WAYPOINT_REACHED class-attribute instance-attribute 

NOTIFICATION_TYPE_WAYPOINT_REACHED = 9

Waypoint reached

OverlayParameters

Overlay parameters.

All available parameters that can be used to configure telemetry overlay on video recordings.

altitude_enabled class-attribute instance-attribute 

altitude_enabled: bool = Field(BOOL, number=21)

cp_probe_enabled class-attribute instance-attribute 

cp_probe_enabled: bool = Field(BOOL, number=22)

date_enabled class-attribute instance-attribute 

date_enabled: bool = Field(BOOL, number=5)

date_format class-attribute instance-attribute 

date_format: str = Field(STRING, number=16)

depth_enabled class-attribute instance-attribute 

depth_enabled: bool = Field(BOOL, number=2)

depth_unit class-attribute instance-attribute 

depth_unit: "DepthUnit" = Field(
    ENUM, number=7, enum="DepthUnit"
)

distance_enabled class-attribute instance-attribute 

distance_enabled: bool = Field(BOOL, number=20)

drone_location_enabled class-attribute instance-attribute 

drone_location_enabled: bool = Field(BOOL, number=23)

font_size class-attribute instance-attribute 

font_size: "FontSize" = Field(
    ENUM, number=12, enum="FontSize"
)

heading_enabled class-attribute instance-attribute 

heading_enabled: bool = Field(BOOL, number=3)

logo_type class-attribute instance-attribute 

logo_type: "LogoType" = Field(
    ENUM, number=6, enum="LogoType"
)

margin_height class-attribute instance-attribute 

margin_height: int = Field(INT32, number=11)

margin_width class-attribute instance-attribute 

margin_width: int = Field(INT32, number=10)

medusa_enabled class-attribute instance-attribute 

medusa_enabled: bool = Field(BOOL, number=24)

shading class-attribute instance-attribute 

shading: float = Field(FLOAT, number=17)

subtitle class-attribute instance-attribute 

subtitle: str = Field(STRING, number=14)

temperature_enabled class-attribute instance-attribute 

temperature_enabled: bool = Field(BOOL, number=1)

temperature_unit class-attribute instance-attribute 

temperature_unit: "TemperatureUnit" = Field(
    ENUM, number=8, enum="TemperatureUnit"
)

thickness_enabled class-attribute instance-attribute 

thickness_enabled: bool = Field(BOOL, number=18)

thickness_unit class-attribute instance-attribute 

thickness_unit: "ThicknessUnit" = Field(
    ENUM, number=19, enum="ThicknessUnit"
)

tilt_enabled class-attribute instance-attribute 

tilt_enabled: bool = Field(BOOL, number=4)

timezone_offset class-attribute instance-attribute 

timezone_offset: int = Field(INT32, number=9)

title class-attribute instance-attribute 

title: str = Field(STRING, number=13)

PersistentStorageSettings

PersistentStorageSettings defines settings for writing various types of data in the persistent storage on the drone Some of the data is written during factory calibration (acc calibration), while other data is written during user calubration or during normal operation.

acc_calibration class-attribute instance-attribute 

acc_calibration: bool = Field(BOOL, number=9)

binlog class-attribute instance-attribute 

binlog: bool = Field(BOOL, number=3)

compass_calibration class-attribute instance-attribute 

compass_calibration: bool = Field(BOOL, number=8)

control_system_log class-attribute instance-attribute 

control_system_log: bool = Field(BOOL, number=6)

gyro_calibration class-attribute instance-attribute 

gyro_calibration: bool = Field(BOOL, number=7)

images class-attribute instance-attribute 

images: bool = Field(BOOL, number=2)

multibeam class-attribute instance-attribute 

multibeam: bool = Field(BOOL, number=4)

videos class-attribute instance-attribute 

videos: bool = Field(BOOL, number=1)

webserver_log class-attribute instance-attribute 

webserver_log: bool = Field(BOOL, number=5)

PingerConfiguration

Pinger configuration.

Used to specify the configuration the BR 1D-Pinger.

Classes:

mounting_direction class-attribute instance-attribute 

mounting_direction: MountingDirection = Field(
    ENUM, number=1, enum=MountingDirection
)

MountingDirection

MOUNTING_DIRECTION_DOWNWARDS class-attribute instance-attribute 
MOUNTING_DIRECTION_DOWNWARDS = 2

Pointing downwards from the drones perspective

MOUNTING_DIRECTION_FORWARDS class-attribute instance-attribute 
MOUNTING_DIRECTION_FORWARDS = 1

Pointing forwards from the drones perspective

MOUNTING_DIRECTION_UNSPECIFIED class-attribute instance-attribute 
MOUNTING_DIRECTION_UNSPECIFIED = 0

Mounting direction is unspecified

PositionEstimate

Position estimate from the Extended Kalman filter based observer if a DVL is connected.

course_over_ground class-attribute instance-attribute 

course_over_ground: float = Field(FLOAT, number=13)

easting class-attribute instance-attribute 

easting: float = Field(FLOAT, number=2)

global_position class-attribute instance-attribute 

global_position: "LatLongPosition" = Field(
    MESSAGE, number=10, message="LatLongPosition"
)

heading class-attribute instance-attribute 

heading: float = Field(FLOAT, number=3)

is_valid class-attribute instance-attribute 

is_valid: bool = Field(BOOL, number=9)

navigation_sensors class-attribute instance-attribute 

navigation_sensors: MutableSequence[
    "NavigationSensorStatus"
] = RepeatedField(
    MESSAGE, number=11, message="NavigationSensorStatus"
)

northing class-attribute instance-attribute 

northing: float = Field(FLOAT, number=1)

ocean_current class-attribute instance-attribute 

ocean_current: float = Field(FLOAT, number=7)

odometer class-attribute instance-attribute 

odometer: float = Field(FLOAT, number=8)

speed_over_ground class-attribute instance-attribute 

speed_over_ground: float = Field(FLOAT, number=12)

surge_rate class-attribute instance-attribute 

surge_rate: float = Field(FLOAT, number=4)

sway_rate class-attribute instance-attribute 

sway_rate: float = Field(FLOAT, number=5)

time_since_reset_sec class-attribute instance-attribute 

time_since_reset_sec: int = Field(INT32, number=14)

yaw_rate class-attribute instance-attribute 

yaw_rate: float = Field(FLOAT, number=6)

PressureSensorType

Depth sensors used by the drone.

PRESSURE_SENSOR_TYPE_KELLER_PA7LD class-attribute instance-attribute 

PRESSURE_SENSOR_TYPE_KELLER_PA7LD = 3

The extended depth sensor using the Keller PA7LD pressure sensor

PRESSURE_SENSOR_TYPE_MS5637_02BA03 class-attribute instance-attribute 

PRESSURE_SENSOR_TYPE_MS5637_02BA03 = 4

The internal pressure sensor using the MS5637 02BA03 pressure sensor

PRESSURE_SENSOR_TYPE_MS5837_30BA26 class-attribute instance-attribute 

PRESSURE_SENSOR_TYPE_MS5837_30BA26 = 2

Thh MS5837 30BA26 pressure sensor

PRESSURE_SENSOR_TYPE_NOT_CONNECTED class-attribute instance-attribute 

PRESSURE_SENSOR_TYPE_NOT_CONNECTED = 1

No se

PRESSURE_SENSOR_TYPE_UNSPECIFIED class-attribute instance-attribute 

PRESSURE_SENSOR_TYPE_UNSPECIFIED = 0

Depth sensor type not specified

RecordOn

Which cameras are supposed to be recording

guestport class-attribute instance-attribute 

guestport: bool = Field(BOOL, number=2)

main class-attribute instance-attribute 

main: bool = Field(BOOL, number=1)

multibeam class-attribute instance-attribute 

multibeam: bool = Field(BOOL, number=3)

RecordState

Camera recording state.

guestport_fps class-attribute instance-attribute 

guestport_fps: float = Field(FLOAT, number=8)

guestport_is_recording class-attribute instance-attribute 

guestport_is_recording: bool = Field(BOOL, number=3)

guestport_seconds class-attribute instance-attribute 

guestport_seconds: int = Field(INT32, number=4)

main_fps class-attribute instance-attribute 

main_fps: float = Field(FLOAT, number=7)

main_is_recording class-attribute instance-attribute 

main_is_recording: bool = Field(BOOL, number=1)

main_seconds class-attribute instance-attribute 

main_seconds: int = Field(INT32, number=2)

multibeam_fps class-attribute instance-attribute 

multibeam_fps: float = Field(FLOAT, number=9)

multibeam_is_recording class-attribute instance-attribute 

multibeam_is_recording: bool = Field(BOOL, number=5)

multibeam_seconds class-attribute instance-attribute 

multibeam_seconds: int = Field(INT32, number=6)

Reference

Reference for the control system. Note that the internal heading reference is not relative to North, use (ControlHealth.heading_error + pose.yaw) instead.

altitude class-attribute instance-attribute 

altitude: float = Field(FLOAT, number=7)

depth class-attribute instance-attribute 

depth: float = Field(FLOAT, number=5)

heading class-attribute instance-attribute 

heading: float = Field(FLOAT, number=6)

heave class-attribute instance-attribute 

heave: float = Field(FLOAT, number=3)

surge class-attribute instance-attribute 

surge: float = Field(FLOAT, number=1)

sway class-attribute instance-attribute 

sway: float = Field(FLOAT, number=2)

yaw class-attribute instance-attribute 

yaw: float = Field(FLOAT, number=4)

ResetCoordinateSource

RESET_COORDINATE_SOURCE_DEVICE_GPS class-attribute instance-attribute 

RESET_COORDINATE_SOURCE_DEVICE_GPS = 1

Uses the device GPS to set the reset point

RESET_COORDINATE_SOURCE_MANUAL class-attribute instance-attribute 

RESET_COORDINATE_SOURCE_MANUAL = 2

Uses a coordinate in decimal degrees to set the reset point

RESET_COORDINATE_SOURCE_UNSPECIFIED class-attribute instance-attribute 

RESET_COORDINATE_SOURCE_UNSPECIFIED = 0

Unspecified, fallback to device GPS

ResetPositionSettings

ResetPositionSettings used during reset of the position estimate.

heading_source_during_reset class-attribute instance-attribute 

heading_source_during_reset: "HeadingSource" = Field(
    ENUM, number=1, enum="HeadingSource"
)

manual_heading class-attribute instance-attribute 

manual_heading: float = Field(FLOAT, number=2)

reset_coordinate class-attribute instance-attribute 

reset_coordinate: "LatLongPosition" = Field(
    MESSAGE, number=4, message="LatLongPosition"
)

reset_coordinate_source class-attribute instance-attribute 

reset_coordinate_source: "ResetCoordinateSource" = Field(
    ENUM, number=3, enum="ResetCoordinateSource"
)

Resolution

Available camera resolutions.

RESOLUTION_FULLHD_1080P class-attribute instance-attribute 

RESOLUTION_FULLHD_1080P = 1

1080p Full HD resolution

RESOLUTION_HD_720P class-attribute instance-attribute 

RESOLUTION_HD_720P = 2

720p HD resolution

RESOLUTION_UNSPECIFIED class-attribute instance-attribute 

RESOLUTION_UNSPECIFIED = 0

Resolution not specified

StationKeepingState

Station keeping state.

enabled class-attribute instance-attribute 

enabled: bool = Field(BOOL, number=1)

StorageSpace

Storage space.

free_space class-attribute instance-attribute 

free_space: int = Field(INT64, number=2)

total_space class-attribute instance-attribute 

total_space: int = Field(INT64, number=1)

SystemTime

System time.

unix_timestamp class-attribute instance-attribute 

unix_timestamp: Timestamp = Field(
    MESSAGE, number=1, message=Timestamp
)

TemperatureUnit

Available temperature units.

TEMPERATURE_UNIT_CELSIUS class-attribute instance-attribute 

TEMPERATURE_UNIT_CELSIUS = 1

Temperature should be displayed as Celsius

TEMPERATURE_UNIT_FAHRENHEIT class-attribute instance-attribute 

TEMPERATURE_UNIT_FAHRENHEIT = 2

Temperature should be displayed as Fahrenheit

TEMPERATURE_UNIT_UNSPECIFIED class-attribute instance-attribute 

TEMPERATURE_UNIT_UNSPECIFIED = 0

Temperature unit not specified

ThicknessGauge

Thickness measurement data from a Cygnus Thickness Gauge.

echo_count class-attribute instance-attribute 

echo_count: int = Field(UINT32, number=2)

is_measurement_valid class-attribute instance-attribute 

is_measurement_valid: bool = Field(BOOL, number=4)

sound_velocity class-attribute instance-attribute 

sound_velocity: int = Field(UINT32, number=3)

thickness_measurement class-attribute instance-attribute 

thickness_measurement: float = Field(FLOAT, number=1)

ThicknessUnit

Available thickness units.

THICKNESS_UNIT_INCHES class-attribute instance-attribute 

THICKNESS_UNIT_INCHES = 2

Thickness should be displayed as inches

THICKNESS_UNIT_MILLIMETERS class-attribute instance-attribute 

THICKNESS_UNIT_MILLIMETERS = 1

Thickness should be displayed as millimeters

THICKNESS_UNIT_UNSPECIFIED class-attribute instance-attribute 

THICKNESS_UNIT_UNSPECIFIED = 0

Thickness unit not specified

TiltAngle

Angle of tilt camera in degrees.

value class-attribute instance-attribute 

value: float = Field(FLOAT, number=1)

TiltStabilizationState

Tilt stabilization state.

Blueye drones with mechanical tilt has the ability to enable camera stabilization.

enabled class-attribute instance-attribute 

enabled: bool = Field(BOOL, number=1)

TiltVelocity

Relative velocity of tilt

value class-attribute instance-attribute 

value: float = Field(FLOAT, number=1)

TimeLapseState

Time-lapse state published if time-lapse mission is running.

interval class-attribute instance-attribute 

interval: float = Field(FLOAT, number=1)

interval_type class-attribute instance-attribute 

interval_type: "IntervalType" = Field(
    ENUM, number=3, enum="IntervalType"
)

photos_taken class-attribute instance-attribute 

photos_taken: int = Field(INT32, number=2)

Vector3

Vector with 3 elements

x class-attribute instance-attribute 

x: float = Field(DOUBLE, number=1)

y class-attribute instance-attribute 

y: float = Field(DOUBLE, number=2)

z class-attribute instance-attribute 

z: float = Field(DOUBLE, number=3)

WaterDensity

Water density.

Used to specify the water density the drone is operating in, to achieve more accurate depth measurements, f. ex. influenced by salinity.

value class-attribute instance-attribute 

value: float = Field(FLOAT, number=1)

WaterTemperature

Water temperature measured by the drone's combined depth and temperature sensor.

value class-attribute instance-attribute 

value: float = Field(FLOAT, number=1)

WeatherVaningState

Weather vaning state.

enabled class-attribute instance-attribute 

enabled: bool = Field(BOOL, number=1)