Protocol Documentation

aquatroll.proto

Aquatroll

These messages are emitted by the In-Situ AquaTroll 500 probe.

AquaTrollParameterBlock

In-Situ Parameter Block

Up to NUMBER_OF_SENSOR_PARAMETERS blocks may be part of a sensor

Field	Type	Label	Description
measured_value	float
parameter_id	AquaTrollParameter
units_id	AquaTrollUnit
data_quality_ids	AquaTrollQuality	repeated
off_line_sentinel_value	float
available_units	AquaTrollUnit	repeated

AquaTrollProbeMetadata

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp
status	bool
register_map_template_version	uint32
device_id	AquaTrollDevice
device_serial_number	uint32
manufacture_date	google.protobuf.Timestamp
firmware_version	uint32
boot_code_version	uint32
hardware_version	uint32
max_data_logs	uint32
total_data_log_memory	uint32
total_battery_ticks	uint32
last_battery_change	google.protobuf.Timestamp
device_name	string
site_name	string
latitude_coordinate	double
longitude_coordinate	double
altitude_coordinate	double
current_time_utc	google.protobuf.Timestamp
device_status_flags	AquaTrollDeviceStatus	repeated
used_battery_ticks	uint32
used_data_log_memory	uint32
sensors	AquaTrollSensor	repeated

AquaTrollSensorMetadata

In-Situ AquaTroll 500 sensor metadata

(Mostly) static information about a connected sensor.

Refer to Section 7 Sensor Common Registers in the In-Situ Modbus Communication Protocol

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp
sensor_id	AquaTrollSensor
sensor_serial_number	uint32
sensor_status_flags	AquaTrollSensorStatus	repeated
last_factory_calibration	google.protobuf.Timestamp
next_factory_calibration	google.protobuf.Timestamp
last_user_calibration	google.protobuf.Timestamp
next_user_calibration	google.protobuf.Timestamp
warm_up_time_in_milliseconds	uint32
fast_sample_rate_in_milliseconds	uint32
number_of_sensor_parameters	uint32
alarm_and_warning_parameter_number	uint32
alarm_and_warning_enable_bits	uint32
high_alarm_set_value	float
high_alarm_clear_value	float
high_warning_set_value	float
high_warning_clear_value	float
low_warning_clear_value	float
low_warning_set_value	float
low_alarm_clear_value	float
low_alarm_set_value	float
parameter_blocks	AquaTrollParameterBlock	repeated

AquaTrollSensorMetadataArray

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp
sensors	AquaTrollSensorMetadata	repeated

AquaTrollSensorParameters

Field	Type	Label	Description
sensor_id	AquaTrollSensor
parameter_blocks	AquaTrollParameterBlock	repeated

AquaTrollSensorParametersArray

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp
sensors	AquaTrollSensorParameters	repeated

SetAquaTrollConnectionStatus

Request to change the In-Situ Aqua Troll connection status

Field	Type	Label	Description
connected	bool		True to connect, false to disconnect

SetAquaTrollParameterUnit

Request to set an In-Situ Aqua Troll parameter unit

Field	Type	Label	Description
sensor_id	AquaTrollSensor		Sensor id, f. ex. "SENSOR_CONDUCTIVITY_SENSOR"
parameter_id	AquaTrollParameter		Parameter name, f. ex. "PARAMETER_TEMPERATURE"
unit_id	AquaTrollUnit		Unit, f. ex. "UNIT_TEMP_CELSIUS"

AquaTrollDevice

Aqua Troll Device IDs

Name	Number	Description
AQUA_TROLL_DEVICE_UNSPECIFIED	0
AQUA_TROLL_DEVICE_LEVEL_TROLL_500	1
AQUA_TROLL_DEVICE_LEVEL_TROLL_700	2
AQUA_TROLL_DEVICE_BAROTROLL_500	3
AQUA_TROLL_DEVICE_LEVEL_TROLL_300	4
AQUA_TROLL_DEVICE_AQUA_TROLL_200	5
AQUA_TROLL_DEVICE_AQUA_TROLL_600	7
AQUA_TROLL_DEVICE_AQUA_TROLL_100	10
AQUA_TROLL_DEVICE_FLOW_TROLL_500	11
AQUA_TROLL_DEVICE_RDO_PRO	12
AQUA_TROLL_DEVICE_RUGGED_TROLL_200	16
AQUA_TROLL_DEVICE_RUGGED_BAROTROLL	17
AQUA_TROLL_DEVICE_AQUA_TROLL_400	18
AQUA_TROLL_DEVICE_RDO_TITAN	19
AQUA_TROLL_DEVICE_SMARTROLL	21
AQUA_TROLL_DEVICE_AQUA_TROLL_600_VENTED	26
AQUA_TROLL_DEVICE_LEVEL_TROLL_400	30
AQUA_TROLL_DEVICE_RDO_PRO_X	31
AQUA_TROLL_DEVICE_AQUA_TROLL_500	33
AQUA_TROLL_DEVICE_AQUA_TROLL_500_VENTED	34

AquaTrollDeviceStatus

Aqua Troll Device Status IDs

Name	Number	Description
AQUA_TROLL_DEVICE_STATUS_SENSOR_HIGH_ALARM	0	protolint:disable:this ENUM_FIELD_NAMES_ZERO_VALUE_END_WITH
AQUA_TROLL_DEVICE_STATUS_SENSOR_HIGH_WARNING	1
AQUA_TROLL_DEVICE_STATUS_SENSOR_LOW_WARNING	2
AQUA_TROLL_DEVICE_STATUS_SENSOR_LOW_ALARM	3
AQUA_TROLL_DEVICE_STATUS_SENSOR_CALIBRATION_WARNING	4
AQUA_TROLL_DEVICE_STATUS_SENSOR_MALFUNCTION	5
AQUA_TROLL_DEVICE_STATUS_POWER_MANAGEMENT_DISABLED	8
AQUA_TROLL_DEVICE_STATUS_DEVICE_OFF_LINE	9
AQUA_TROLL_DEVICE_STATUS_DEVICE_HARDWARE_RESET_OCCURRED	10
AQUA_TROLL_DEVICE_STATUS_DEVICE_MALFUNCTION	11
AQUA_TROLL_DEVICE_STATUS_NO_EXTERNAL_POWER	12
AQUA_TROLL_DEVICE_STATUS_LOW_BATTERY	13
AQUA_TROLL_DEVICE_STATUS_LOW_MEMORY	14

AquaTrollParameter

Aqua Troll Parameter IDs

Name	Number	Description
AQUA_TROLL_PARAMETER_UNSPECIFIED	0
AQUA_TROLL_PARAMETER_TEMPERATURE	1
AQUA_TROLL_PARAMETER_PRESSURE	2
AQUA_TROLL_PARAMETER_DEPTH	3
AQUA_TROLL_PARAMETER_LEVEL_DEPTH_TO_WATER	4
AQUA_TROLL_PARAMETER_LEVEL_SURFACE_ELEVATION	5
AQUA_TROLL_PARAMETER_LATITUDE	6
AQUA_TROLL_PARAMETER_LONGITUDE	7
AQUA_TROLL_PARAMETER_ELEVATION	8
AQUA_TROLL_PARAMETER_ACTUAL_CONDUCTIVITY	9
AQUA_TROLL_PARAMETER_SPECIFIC_CONDUCTIVITY	10
AQUA_TROLL_PARAMETER_RESISTIVITY	11
AQUA_TROLL_PARAMETER_SALINITY	12
AQUA_TROLL_PARAMETER_TOTAL_DISSOLVED_SOLIDS	13
AQUA_TROLL_PARAMETER_DENSITY_OF_WATER	14
AQUA_TROLL_PARAMETER_SPECIFIC_GRAVITY	15
AQUA_TROLL_PARAMETER_BAROMETRIC_PRESSURE	16
AQUA_TROLL_PARAMETER_PH	17
AQUA_TROLL_PARAMETER_PH_MV	18
AQUA_TROLL_PARAMETER_ORP	19
AQUA_TROLL_PARAMETER_DISSOLVED_OXYGEN_CONCENTRATION	20
AQUA_TROLL_PARAMETER_DISSOLVED_OXYGEN_SATURATION	21
AQUA_TROLL_PARAMETER_NITRATE	22
AQUA_TROLL_PARAMETER_AMMONIUM	23
AQUA_TROLL_PARAMETER_CHLORIDE	24
AQUA_TROLL_PARAMETER_TURBIDITY	25
AQUA_TROLL_PARAMETER_BATTERY_VOLTAGE	26
AQUA_TROLL_PARAMETER_HEAD	27
AQUA_TROLL_PARAMETER_FLOW	28
AQUA_TROLL_PARAMETER_TOTAL_FLOW	29
AQUA_TROLL_PARAMETER_OXYGEN_PARTIAL_PRESSURE	30
AQUA_TROLL_PARAMETER_TOTAL_SUSPENDED_SOLIDS	31
AQUA_TROLL_PARAMETER_EXTERNAL_VOLTAGE	32
AQUA_TROLL_PARAMETER_BATTERY_CAPACITY_REMAINING	33
AQUA_TROLL_PARAMETER_RHODAMINE_WT_CONCENTRATION	34
AQUA_TROLL_PARAMETER_RHODAMINE_WT_FLUORESCENCE_INTENSITY	35
AQUA_TROLL_PARAMETER_CHLORIDE_CL_MV	36
AQUA_TROLL_PARAMETER_NITRATE_AS_NITROGEN_NO3_N_CONCENTRATION	37
AQUA_TROLL_PARAMETER_NITRATE_NO3_MV	38
AQUA_TROLL_PARAMETER_AMMONIUM_AS_NITROGEN_NH4_PLUS_N_CONCENTRATION	39
AQUA_TROLL_PARAMETER_AMMONIUM_NH4_MV	40
AQUA_TROLL_PARAMETER_AMMONIA_AS_NITROGEN_NH3_N_CONCENTRATION	41
AQUA_TROLL_PARAMETER_TOTAL_AMMONIA_AS_NITROGEN_NH3_N_CONCENTRATION	42
AQUA_TROLL_PARAMETER_EH	48
AQUA_TROLL_PARAMETER_VELOCITY	49
AQUA_TROLL_PARAMETER_CHLOROPHYLL_A_CONCENTRATION	50
AQUA_TROLL_PARAMETER_CHLOROPHYLL_A_FLUORESCENCE_INTENSITY	51
AQUA_TROLL_PARAMETER_BLUE_GREEN_ALGAE_PHYCOCYANIN_CONCENTRATION	54
AQUA_TROLL_PARAMETER_BLUE_GREEN_ALGAE_PHYCOCYANIN_FLUORESCENCE_INTENSITY	55
AQUA_TROLL_PARAMETER_BLUE_GREEN_ALGAE_PHYCOERYTHRIN_CONCENTRATION	58
AQUA_TROLL_PARAMETER_BLUE_GREEN_ALGAE_PHYCOERYTHRIN_FLUORESCENCE_INTENSITY	59
AQUA_TROLL_PARAMETER_FLUORESCEIN_WT_CONCENTRATION	67
AQUA_TROLL_PARAMETER_FLUORESCEIN_WT_FLUORESCENCE_INTENSITY	68
AQUA_TROLL_PARAMETER_FLUORESCENT_DISSOLVED_ORGANIC_MATTER_CONCENTRATION	69
AQUA_TROLL_PARAMETER_FLUORESCENT_DISSOLVED_ORGANIC_MATTER_FLUORESCENCE_INTENSITY	70
AQUA_TROLL_PARAMETER_CRUDE_OIL_CONCENTRATION	80
AQUA_TROLL_PARAMETER_CRUDE_OIL_FLUORESCENCE_INTENSITY	81
AQUA_TROLL_PARAMETER_COLORED_DISSOLVED_ORGANIC_MATTER_CONCENTRATION	87

AquaTrollQuality

Aqua Troll Quality IDs

Name	Number	Description
AQUA_TROLL_QUALITY_NORMAL	0	protolint:disable:this ENUM_FIELD_NAMES_ZERO_VALUE_END_WITH
AQUA_TROLL_QUALITY_USER_CAL_EXPIRED	1
AQUA_TROLL_QUALITY_FACTORY_CAL_EXPIRED	2
AQUA_TROLL_QUALITY_ERROR	3
AQUA_TROLL_QUALITY_WARM_UP	4
AQUA_TROLL_QUALITY_SENSOR_WARNING	5
AQUA_TROLL_QUALITY_CALIBRATING	6
AQUA_TROLL_QUALITY_OFF_LINE	7

AquaTrollSensor

Aqua Troll Sensor IDs

Name	Number	Description
AQUA_TROLL_SENSOR_UNSPECIFIED	0
AQUA_TROLL_SENSOR_TEMPERATURE	1
AQUA_TROLL_SENSOR_S5_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_AND_TEMPERATURE	2
AQUA_TROLL_SENSOR_S15_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_AND_TEMPERATURE	3
AQUA_TROLL_SENSOR_S30_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_AND_TEMPERATURE	4
AQUA_TROLL_SENSOR_S100_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_AND_TEMPERATURE	5
AQUA_TROLL_SENSOR_S300_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_AND_TEMPERATURE	6
AQUA_TROLL_SENSOR_S500_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_AND_TEMPERATURE	7
AQUA_TROLL_SENSOR_S1000_PSI_FULL_SCALE_ABSOLUTE_PRESSURE_WITH_LEVEL_AND_TEMPERATURE	8
AQUA_TROLL_SENSOR_S30_PSI_FULL_SCALE_ABSOLUTE_PRESSURE_WITH_LEVEL_AND_TEMPERATURE	9
AQUA_TROLL_SENSOR_S100_PSI_FULL_SCALE_ABSOLUTE_PRESSURE_WITH_LEVEL_AND_TEMPERATURE	10
AQUA_TROLL_SENSOR_S300_PSI_FULL_SCALE_ABSOLUTE_PRESSURE_WITH_LEVEL_AND_TEMPERATURE	11
AQUA_TROLL_SENSOR_S500_PSI_FULL_SCALE_ABSOLUTE_PRESSURE_WITH_LEVEL_AND_TEMPERATURE	12
AQUA_TROLL_SENSOR_S30_PSI_FULL_SCALE_ABSOLUTE_PRESSURE_WITH_TEMPERATURE	13
AQUA_TROLL_SENSOR_S5_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_TEMPERATURE_AND_CONDUCTIVITY	14
AQUA_TROLL_SENSOR_S15_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_TEMPERATURE_AND_CONDUCTIVITY	15
AQUA_TROLL_SENSOR_S30_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_TEMPERATURE_AND_CONDUCTIVITY	16
AQUA_TROLL_SENSOR_S100_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_TEMPERATURE_AND_CONDUCTIVITY	17
AQUA_TROLL_SENSOR_S300_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_TEMPERATURE_AND_CONDUCTIVITY	18
AQUA_TROLL_SENSOR_S500_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_LEVEL_TEMPERATURE_AND_CONDUCTIVITY	19
AQUA_TROLL_SENSOR_NOT_USED	20
AQUA_TROLL_SENSOR_S30_PSI_FULL_SCALE_ABSOLUTE_PRESSURE_WITH_LEVEL_TEMPERATURE_AND_CONDUCTIVITY	21
AQUA_TROLL_SENSOR_S100_PSI_FULL_SCALE_ABSOLUTE_PRESSURE_WITH_LEVEL_TEMPERATURE_AND_CONDUCTIVITY	22
AQUA_TROLL_SENSOR_S300_PSI_FULL_SCALE_ABSOLUTE_PRESSURE_WITH_LEVEL_TEMPERATURE_AND_CONDUCTIVITY	23
AQUA_TROLL_SENSOR_S500_PSI_FULL_SCALE_ABSOLUTE_PRESSURE_WITH_LEVEL_TEMPERATURE_AND_CONDUCTIVITY	24
AQUA_TROLL_SENSOR_S165_PSI_FULL_SCALE_ABSOLUTE_PRESSURE	25
AQUA_TROLL_SENSOR_PH_ANALOG_SENSOR	26
AQUA_TROLL_SENSOR_PH_ORP_ANALOG_SENSOR	27
AQUA_TROLL_SENSOR_DISSOLVED_OXYGEN_CLARK_CELL_ANALOG_SENSOR	28
AQUA_TROLL_SENSOR_NITRATE_ANALOG_SENSOR	29
AQUA_TROLL_SENSOR_AMMONIUM_ANALOG_SENSOR	30
AQUA_TROLL_SENSOR_CHLORIDE_ANALOG_SENSOR	31
AQUA_TROLL_SENSOR_S100_FOOT_FULL_SCALE_LEVEL_WITH_ABSOLUTE_PRESSURE_AND_TEMPERATURE	32
AQUA_TROLL_SENSOR_S250_FOOT_FULL_SCALE_LEVEL_WITH_ABSOLUTE_PRESSURE_AND_TEMPERATURE	33
AQUA_TROLL_SENSOR_S30_FOOT_FULL_SCALE_LEVEL_WITH_ABSOLUTE_PRESSURE_AND_TEMPERATURE	34
AQUA_TROLL_SENSOR_CONDUCTIVITY_AND_TEMPERATURE	35
AQUA_TROLL_SENSOR_S5_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_TEMPERATURE_HEAD_AND_FLOW	36
AQUA_TROLL_SENSOR_S15_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_TEMPERATURE_HEAD_AND_FLOW	37
AQUA_TROLL_SENSOR_S30_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_TEMPERATURE_HEAD_AND_FLOW	38
AQUA_TROLL_SENSOR_S100_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_TEMPERATURE_HEAD_AND_FLOW	39
AQUA_TROLL_SENSOR_S300_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_TEMPERATURE_HEAD_AND_FLOW	40
AQUA_TROLL_SENSOR_S500_PSI_FULL_SCALE_GAUGE_PRESSURE_WITH_TEMPERATURE_HEAD_AND_FLOW	41
AQUA_TROLL_SENSOR_OPTICAL_DISSOLVED_OXYGEN_WITH_TEMPERATURE	42
AQUA_TROLL_SENSOR_S1_BAR	43
AQUA_TROLL_SENSOR_S2_BAR	44
AQUA_TROLL_SENSOR_S5_BAR	45
AQUA_TROLL_SENSOR_TURBIDITY_SENSOR	50
AQUA_TROLL_SENSOR_TEMPERATURE_SENSOR	55
AQUA_TROLL_SENSOR_CONDUCTIVITY_SENSOR	56
AQUA_TROLL_SENSOR_RDO_SENSOR	57
AQUA_TROLL_SENSOR_PH_ORP_SENSOR	58
AQUA_TROLL_SENSOR_RHODAMINE_WT_SENSOR	60
AQUA_TROLL_SENSOR_CHLOROPHYLL_A_SENSOR	62
AQUA_TROLL_SENSOR_BLUE_GREEN_ALGAE_PHYCOCYANIN_SENSOR	64
AQUA_TROLL_SENSOR_BLUE_GREEN_ALGAE_PHYCOERYTHRIN_SENSOR	65
AQUA_TROLL_SENSOR_NITRATE_ISE_SENSOR	70
AQUA_TROLL_SENSOR_AMMONIUM_ISE_SENSOR	71
AQUA_TROLL_SENSOR_CHLORIDE_ISE_SENSOR	72
AQUA_TROLL_SENSOR_PROBE_PARAMETERS	79

AquaTrollSensorStatus

Aqua Troll Sensor Status IDs

Name	Number	Description
AQUA_TROLL_SENSOR_STATUS_SENSOR_HIGH_ALARM	0	protolint:disable:this ENUM_FIELD_NAMES_ZERO_VALUE_END_WITH
AQUA_TROLL_SENSOR_STATUS_SENSOR_HIGH_WARNING	1
AQUA_TROLL_SENSOR_STATUS_SENSOR_LOW_WARNING	2
AQUA_TROLL_SENSOR_STATUS_SENSOR_LOW_ALARM	3
AQUA_TROLL_SENSOR_STATUS_SENSOR_CALIBRATION_WARNING	4
AQUA_TROLL_SENSOR_STATUS_SENSOR_MALFUNCTION	5
AQUA_TROLL_SENSOR_STATUS_SENSOR_MODE_BIT_1	8
AQUA_TROLL_SENSOR_STATUS_SENSOR_MODE_BIT_2	9

AquaTrollUnit

Aqua Troll Unit IDs

Name	Number	Description
AQUA_TROLL_UNIT_UNSPECIFIED	0
AQUA_TROLL_UNIT_TEMP_CELSIUS	1
AQUA_TROLL_UNIT_TEMP_FARENHEIT	2
AQUA_TROLL_UNIT_TEMP_KELVIN	3
AQUA_TROLL_UNIT_POUNDS_PER_SQUARE_INCH	17
AQUA_TROLL_UNIT_PASCALS	18
AQUA_TROLL_UNIT_KILOPASCALS	19
AQUA_TROLL_UNIT_BARS	20
AQUA_TROLL_UNIT_MILLIBARS	21
AQUA_TROLL_UNIT_MILLIMETERS_OF_MERCURY	22
AQUA_TROLL_UNIT_INCHES_OF_MERCURY	23
AQUA_TROLL_UNIT_CENTIMETERS_OF_WATER	24
AQUA_TROLL_UNIT_INCHES_OF_WATER	25
AQUA_TROLL_UNIT_TORR	26
AQUA_TROLL_UNIT_STANDARD_ATMOSPHERE	27
AQUA_TROLL_UNIT_MILLIMETERS	33
AQUA_TROLL_UNIT_CENTIMETERS	34
AQUA_TROLL_UNIT_METERS	35
AQUA_TROLL_UNIT_KILOMETER	36
AQUA_TROLL_UNIT_INCHES	37
AQUA_TROLL_UNIT_FEET	38
AQUA_TROLL_UNIT_DEGREES	49
AQUA_TROLL_UNIT_MINUTES	50
AQUA_TROLL_UNIT_SECONDS	51
AQUA_TROLL_UNIT_MICROSIEMENS_PER_CENTIMETER	65
AQUA_TROLL_UNIT_MILLISIEMENS_PER_CENTIMETER	66
AQUA_TROLL_UNIT_OHM_CENTIMETERS	81
AQUA_TROLL_UNIT_PRACTICAL_SALINITY_UNITS	97
AQUA_TROLL_UNIT_PARTS_PER_THOUSAND_SALINITY	98
AQUA_TROLL_UNIT_PARTS_PER_MILLION	113
AQUA_TROLL_UNIT_PARTS_PER_THOUSAND	114
AQUA_TROLL_UNIT_PARTS_PER_MILLION_NITROGEN	115
AQUA_TROLL_UNIT_PARTS_PER_MILLION_CHLORIDE	116
AQUA_TROLL_UNIT_MILLIGRAMS_PER_LITER	117
AQUA_TROLL_UNIT_MICROGRAMS_PER_LITER	118
AQUA_TROLL_UNIT_MICROMOLES_PER_LITER_DEPRECATED	119
AQUA_TROLL_UNIT_GRAMS_PER_LITER	120
AQUA_TROLL_UNIT_PARTS_PER_BILLION	121
AQUA_TROLL_UNIT_GRAMS_PER_CUBIC_CENTIMETER	129
AQUA_TROLL_UNIT_PH	145
AQUA_TROLL_UNIT_MICRO_VOLTS	161
AQUA_TROLL_UNIT_MILLI_VOLTS	162
AQUA_TROLL_UNIT_VOLTS	163
AQUA_TROLL_UNIT_PERCENT_SATURATION	177
AQUA_TROLL_UNIT_FORMAZIN_NEPHELOMETRIC_UNITS	193
AQUA_TROLL_UNIT_NEPHELOMETRIC_TURBIDITY_UNITS	194
AQUA_TROLL_UNIT_FORMAZIN_TURBIDITY_UNITS	195
AQUA_TROLL_UNIT_CUBIC_FEET_PER_SECOND	209
AQUA_TROLL_UNIT_CUBIC_FEET_PER_MINUTE	210
AQUA_TROLL_UNIT_CUBIC_FEET_PER_HOUR	211
AQUA_TROLL_UNIT_CUBIC_FEET_PER_DAY	212
AQUA_TROLL_UNIT_GALLONS_PER_SECOND	213
AQUA_TROLL_UNIT_GALLONS_PER_MINUTE	214
AQUA_TROLL_UNIT_GALLONS_PER_HOUR	215
AQUA_TROLL_UNIT_MILLIONS_OF_GALLONS_PER_DAY	216
AQUA_TROLL_UNIT_CUBIC_METERS_PER_SECOND	217
AQUA_TROLL_UNIT_CUBIC_METERS_PER_MINUTE	218
AQUA_TROLL_UNIT_CUBIC_METERS_PER_HOUR	219
AQUA_TROLL_UNIT_CUBIC_METERS_PER_DAY	220
AQUA_TROLL_UNIT_LITERS_PER_SECOND	221
AQUA_TROLL_UNIT_MILLIONS_OF_LITERS_PER_DAY	222
AQUA_TROLL_UNIT_MILLILITERS_PER_MINUTE	223
AQUA_TROLL_UNIT_THOUSANDS_OF_LITERS_PER_DAY	224
AQUA_TROLL_UNIT_CUBIC_FEET	225
AQUA_TROLL_UNIT_GALLONS	226
AQUA_TROLL_UNIT_MILLIONS_OF_GALLONS	227
AQUA_TROLL_UNIT_CUBIC_METERS	228
AQUA_TROLL_UNIT_LITERS	229
AQUA_TROLL_UNIT_ACRE_FEET	230
AQUA_TROLL_UNIT_MILLILITERS	231
AQUA_TROLL_UNIT_MILLIONS_OF_LITERS	232
AQUA_TROLL_UNIT_THOUSANDS_OF_LITERS	233
AQUA_TROLL_UNIT_ACRE_INCHES	234
AQUA_TROLL_UNIT_PERCENT	241
AQUA_TROLL_UNIT_RELATIVE_FLUORESCENCE_UNITS	257
AQUA_TROLL_UNIT_MILLILITERS_PER_SECOND	273
AQUA_TROLL_UNIT_MILLILITERS_PER_HOUR	274
AQUA_TROLL_UNIT_LITERS_PER_MINUTE	275
AQUA_TROLL_UNIT_LITERS_PER_HOUR	276
AQUA_TROLL_UNIT_MICROAMPS	289
AQUA_TROLL_UNIT_MILLIAMPS	290
AQUA_TROLL_UNIT_AMPS	291
AQUA_TROLL_UNIT_FEET_PER_SECOND	305
AQUA_TROLL_UNIT_METERS_PER_SECOND	306

Type

Type IDs

Name	Number	Description
TYPE_UNSPECIFIED	0
TYPE_SHORT	1
TYPE_UNSIGNED_SHORT	2
TYPE_LONG	3
TYPE_UNSIGNED_LONG	4
TYPE_FLOAT	5
TYPE_DOUBLE	6
TYPE_CHARACTER	7
TYPE_STRING	8
TYPE_TIME	9

control.proto

Control

These messages define control messages accepted by the Blueye drone.

ActivateGuestPortsCtrl

Activated the guest port power

AutoAltitudeCtrl

Issue a command to set auto altitude to a desired state.

Field	Type	Label	Description
state	AutoAltitudeState		State of the altitude controller

AutoDepthCtrl

Issue a command to set auto depth to a desired state.

Field	Type	Label	Description
state	AutoDepthState		State of the depth controller

AutoHeadingCtrl

Issue a command to set auto heading to a desired state.

Field	Type	Label	Description
state	AutoHeadingState		State of the heading controller

CancelCalibrationCtrl

Issue a command to cancel compass calibration.

DeactivateGuestPortsCtrl

Deactivate the guest port power

FinishCalibrationCtrl

Issue a command to finish compass calibration.

GenericServoCtrl

Issue a command to set a generic servo value.

Field	Type	Label	Description
servo	GenericServo		Message with the desired servo value.

GripperCtrl

Issue a command to control the gripper.

Field	Type	Label	Description
gripper_velocities	GripperVelocities		The desired gripping and rotation velocity.

GuestportLightsCtrl

Issue a command to set the guest port light intensity.

Field	Type	Label	Description
lights	Lights		Message with the desired light intensity.

LaserCtrl

Issue a command to set the laser intensity.

Field	Type	Label	Description
laser	Laser		Message with the desired laser intensity.

LightsCtrl

Issue a command to set the main light intensity.

Field	Type	Label	Description
lights	Lights		Message with the desired light intensity.

MotionInputCtrl

Issue a command to move the drone in the surge, sway, heave, or yaw direction.

Field	Type	Label	Description
motion_input	MotionInput		Message with the desired movement in each direction.

MultibeamServoCtrl

Issue a command to set multibeam servo angle.

Field	Type	Label	Description
servo	MultibeamServo		Message with the desired servo angle.

PilotGPSPositionCtrl

Issue a command with the GPS position of the pilot.

Field	Type	Label	Description
position	LatLongPosition		The GPS position of the pilot.

PingerConfigurationCtrl

Issue a command to set the pinger configuration.

Field	Type	Label	Description
configuration	PingerConfiguration		Message with the pinger configuration to set.

RecordCtrl

Issue a command to start video recording.

Field	Type	Label	Description
record_on	RecordOn		Message specifying which cameras to record.

ResetOdometerCtrl

Issue a command to reset the odometer.

ResetPositionCtrl

Issue a command to reset the position estimate.

Field	Type	Label	Description
settings	ResetPositionSettings		Reset settings.

RestartGuestPortsCtrl

Restart the guest ports by turning power on and off

Field	Type	Label	Description
restart_info	GuestPortRestartInfo		Message with information about how long to keep the guest ports off.

SetAquaTrollConnectionStatusCtrl

Request to change the In-Situ Aqua Troll connection status

Field	Type	Label	Description
connection_status	SetAquaTrollConnectionStatus		Message with information about which parameter to set and the unit to set it to.

SetAquaTrollParameterUnitCtrl

Request to set an In-Situ Aqua Troll parameter unit

Field	Type	Label	Description
parameter_info	SetAquaTrollParameterUnit		Message with information about which parameter to set and the unit to set it to.

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StartCalibrationCtrl

Issue a command to start compass calibration.

StationKeepingCtrl

Issue a command to set station keeping to a desired state.

Field	Type	Label	Description
state	StationKeepingState		State of the station keeping controller

SystemTimeCtrl

Issue a command to set the system time on the drone.

Field	Type	Label	Description
system_time	SystemTime		Message with the system time to set.

TakePictureCtrl

Issue a command to take a picture.

TiltStabilizationCtrl

Issue a command to enable or disable tilt stabilization.

Field	Type	Label	Description
state	TiltStabilizationState		Message with the tilt stabilization state to set.

TiltVelocityCtrl

Issue a command to tilt the drone camera.

Field	Type	Label	Description
velocity	TiltVelocity		Message with the desired tilt velocity (direction and speed).

WatchdogCtrl

Issue a watchdog message to indicate that the remote client is connected and working as expected.

If a watchdog message is not received every second, the drone will turn off lights and other auto functions to indicate that connection with the client has been lost.

Field	Type	Label	Description
connection_duration	ConnectionDuration		Message with the number of seconds the client has been connected.
client_id	uint32		The ID of the client, received in the ConnectClientRep response.

WaterDensityCtrl

Issue a command to set the water density.

Field	Type	Label	Description
density	WaterDensity		Message with the water density to set.

WeatherVaningCtrl

Issue a command to set station keeping with weather vaning to a desired state.

Field	Type	Label	Description
state	WeatherVaningState		State of the weather vaning controller

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message_formats.proto

Common messages

These are used for logging as well as building requests and responses.

Altitude

Drone altitude over seabed, typically obtained from a DVL.

Field	Type	Label	Description
value	float		Drone altitude over seabed (m)
is_valid	bool		If altitude is valid or not

Attitude

The attitude of the drone.

Field	Type	Label	Description
roll	float		Roll angle (-180°..180°)
pitch	float		Pitch angle (-180°..180°)
yaw	float		Yaw angle (-180°..180°)

AutoAltitudeState

Auto altitude state.

Field	Type	Label	Description
enabled	bool		If auto altitude is enabled

AutoDepthState

Auto depth state.

Field	Type	Label	Description
enabled	bool		If auto depth is enabled

AutoHeadingState

Auto heading state.

Field	Type	Label	Description
enabled	bool		If auto heading is enabled

Battery

Essential battery information.

Field	Type	Label	Description
voltage	float		Battery voltage (V)
level	float		Battery level (0..1)
temperature	float		Battery temperature (°C)

BatteryBQ40Z50

Battery information message.

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

Field	Type	Label	Description
voltage	BatteryBQ40Z50.Voltage		Voltage of the battery cells
temperature	BatteryBQ40Z50.Temperature		Temperature of the battery cells
status	BatteryBQ40Z50.BatteryStatus		Battery status flags
current	float		Current (A)
average_current	float		Average current (A)
relative_state_of_charge	float		Relative state of charge (0..1)
absolute_state_of_charge	float		Absolute state of charge (0..1)
calculated_state_of_charge	float		Calculated state of charge (0..1)
remaining_capacity	float		Remaining capacity (Ah)
full_charge_capacity	float		Full charge capacity (Ah)
runtime_to_empty	uint32		Runtime to empty (s)
average_time_to_empty	uint32		Average time to empty (s)
average_time_to_full	uint32		Average time to full (s)
charging_current	float		Charging current (A)
charging_voltage	float		Charging voltage (V)
cycle_count	uint32		Number of charging cycles
design_capacity	float		Design capacity (Ah)
manufacture_date	google.protobuf.Timestamp		Manufacture date
serial_number	uint32		Serial number
manufacturer_name	string		Manufacturer name
device_name	string		Device name
device_chemistry	string		Battery chemistry

BatteryBQ40Z50.BatteryStatus

Battery status from BQ40Z50 ref data sheet 0x16.

Field	Type	Label	Description
overcharged_alarm	bool
terminate_charge_alarm	bool
over_temperature_alarm	bool
terminate_discharge_alarm	bool
remaining_capacity_alarm	bool
remaining_time_alarm	bool
initialization	bool
discharging_or_relax	bool
fully_charged	bool
fully_discharged	bool
error	BatteryBQ40Z50.BatteryStatus.BatteryError		Battery error codes

BatteryBQ40Z50.Temperature

Battery temperature.

Field	Type	Label	Description
average	float		Average temperature accross cells (°C)
cell_1	float		Cell 1 temperature (°C)
cell_2	float		Cell 2 temperature (°C)
cell_3	float		Cell 3 temperature (°C)
cell_4	float		Cell 4 temperature (°C)

BatteryBQ40Z50.Voltage

Battery voltage levels.

Field	Type	Label	Description
total	float		Battery pack voltage level (V)
cell_1	float		Cell 1 voltage level (V)
cell_2	float		Vell 2 voltage level (V)
cell_3	float		Cell 3 voltage level (V)
cell_4	float		Cell 4 voltage level (V)

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.

Field	Type	Label	Description
payload	google.protobuf.Any		The log entry payload.
unix_timestamp	google.protobuf.Timestamp		Unix timestamp in UTC.
clock_monotonic	google.protobuf.Timestamp		Posix CLOCK_MONOTONIC timestamp.

CPUTemperature

CPU temperature.

Field	Type	Label	Description
value	float		CPU temperature (°C)

CalibrationState

Compass calibration state.

Field	Type	Label	Description
status	CalibrationState.Status		Current calibration status
progress_x_positive	float		Progress for the positive X axis (0..1)
progress_x_negative	float		Progress for the negative X axis (0..1)
progress_y_positive	float		Progress for the positive Y axis (0..1)
progress_y_negative	float		Progress for the negative X axis (0..1)
progress_z_positive	float		Progress for the positive Z axis (0..1)
progress_z_negative	float		Progress for the negative Z axis (0..1)
progress_thruster	float		Progress for the thruster calibration (0..1)

CameraParameters

Camera parameters.

Field	Type	Label	Description
h264_bitrate	int32		Bitrate of the h264 stream (bit/sec)
mjpg_bitrate	int32		Bitrate of the MJPG stream used for still pictures (bit/sec)
exposure	int32		Shutter speed (1/10000 * s), -1 for automatic exposure
white_balance	int32		White balance temperature (2800..9300), -1 for automatic white balance
hue	int32		Hue (-40..40), 0 as default
gain	float		Iso gain (0..1)
resolution	Resolution		Stream, recording and image resolution
framerate	Framerate		Stream and recording framerate
camera	Camera		Which camera the parameters belong to.

CanisterHumidity

Canister humidity.

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

Field	Type	Label	Description
humidity	float		Air humidity (%)

CanisterTemperature

Canister temperature.

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

Field	Type	Label	Description
temperature	float		Temperature (°C)

ClientInfo

Information about a remote client.

Field	Type	Label	Description
type	string		The type of client (such as Blueye App, Observer App, SDK, etc)
version	string		Client software version string
device_type	string		Device type, such as mobile, tablet, or computer
platform	string		Platform, such as iOS, Android, Linux, etc
platform_version	string		Platform software version string
name	string		Name of the client

ConnectedClient

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

Field	Type	Label	Description
client_id	uint32		The assigned client id
client_info	ClientInfo		Client information.

ConnectionDuration

Connection duration of a remote client.

Field	Type	Label	Description
value	int32		time since connected to drone (s)

ControlForce

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

Field	Type	Label	Description
surge	float		Force in surge (N)
sway	float		Force in sway (N)
heave	float		Force in heave (N)
yaw	float		Moment in yaw (Nm)

ControlMode

Control mode from drone supervisor

Field	Type	Label	Description
auto_depth	bool		If auto depth is enabled
auto_heading	bool		If auto heading is enabled
auto_altitude	bool		If auto altitude is enabled
station_keeping	bool		If station keeping is enabled
weather_vaning	bool		If weather vaning is enabled

ControllerHealth

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

Field	Type	Label	Description
depth_error	float		Depth error in meters (m)
depth_health	float		Depth controller load (0..1)
heading_error	float		Heading error in degrees (°)
heading_health	float		Heading controller load (0..1)

CpProbe

Reading from a Cathodic Protection Potential probe.

Field	Type	Label	Description
measurement	float		Potential measurement (V)
is_measurement_valid	bool		Indicating if the measurement is valid

Depth

Water depth of the drone.

Field	Type	Label	Description
value	float		Drone depth below surface (m)

DiveTime

Amount of time the drone has been submerged.

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

Field	Type	Label	Description
value	int32		Number of seconds the drone has been submerged

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.

Field	Type	Label	Description
blunux_version	string		Blunux version string
serial_number	bytes		Drone serial number
hardware_id	bytes		Main computer unique identifier
model	Model		Drone model
mb_serial	bytes		Motherboard serial number
bb_serial	bytes		Backbone serial number
ds_serial	bytes		Drone stack serial number
mb_uid	bytes		Motherboard unique identifier
bb_uid	bytes		Backbone unique identifier
gp	GuestPortInfo		GuestPortInfo
depth_sensor	PressureSensorType		Type of depth sensor that is connected to the drone

ErrorFlags

Known error states for the drone.

Field	Type	Label	Description
pmu_comm_ack	bool		Acknowledge message not received for a message published to internal micro controller
pmu_comm_stream	bool		Error in communication with internal micro controller
depth_read	bool		Error reading depth sensor value
depth_spike	bool		Sudden spike in value read from depth sensor
inner_pressure_read	bool		Error reading inner pressure of the drone
inner_pressure_spike	bool		Sudden spike in inner preassure
compass_calibration	bool		Compass needs calibration
tilt_calibration	bool		Error during calibration of tilt endpoints
gp1_read	bool		Guest port 1 read error
gp2_read	bool		Guest port 2 read error
gp3_read	bool		Guest port 3 read error
gp1_not_flashed	bool		Guest port 1 not flashed
gp2_not_flashed	bool		Guest port 2 not flashed
gp3_not_flashed	bool		Guest port 3 not flashed
gp1_unknown_device	bool		Unknown device on guest port 1
gp2_unknown_device	bool		Unknown device on guest port 2
gp3_unknown_device	bool		Unknown device on guest port 3
gp1_device_connection	bool		Guest port 1 connection error
gp2_device_connection	bool		Guest port 2 connection error
gp3_device_connection	bool		Guest port 3 connection error
gp1_device	bool		Guest port 1 device error
gp2_device	bool		Guest port 2 device error
gp3_device	bool		Guest port 3 device error
drone_serial_not_set	bool		Drone serial number not set
drone_serial	bool		Drone serial number error
mb_eeprom_read	bool		MB eeprom read error
bb_eeprom_read	bool		BB eeprom read error
mb_eeprom_not_flashed	bool		MB eeprom not flashed
bb_eeprom_not_flashed	bool		BB eeprom not flashed
main_camera_connection	bool		We don't get buffers from the main camera
main_camera_firmware	bool		The main camera firmware is wrong
guestport_camera_connection	bool		We don't get buffers from the guestport camera
guestport_camera_firmware	bool		The guestport camera firmware is wrong
mb_serial	bool		MB serial number error
bb_serial	bool		BB serial number error
ds_serial	bool		DS serial number error
gp_current_read	bool		Error reading GP current
gp_current	bool		Max GP current exceeded
gp1_bat_current	bool		Max battery current exceeded on GP1
gp2_bat_current	bool		Max battery current exceeded on GP2
gp3_bat_current	bool		Max battery current exceeded on GP3
gp_20v_current	bool		Max 20V current exceeded on GP

ForwardDistance

Distance to an object infront of the drone, typically obtained from an 1D pinger.

Field	Type	Label	Description
value	float		Distance in front of drone (m)
is_valid	bool		If distance reading is valid or not

GenericServo

Servo message used to represent the angle of the servo.

Field	Type	Label	Description
value	float		Servo value (0..1)
guest_port_number	GuestPortNumber		Guest port the servo is on

GripperVelocities

Gripper velocity values.

Field	Type	Label	Description
grip_velocity	float		The gripping velocity (-1.0..1.0)
rotate_velocity	float		The rotating velocity (-1.0..1.0)

GuestPortConnectorInfo

GuestPort connector information.

Field	Type	Label	Description
device_list	GuestPortDeviceList		List of devices on this connector
error	GuestPortError		Guest port error
guest_port_number	GuestPortNumber		Guest port the connector is connected to

GuestPortCurrent

GuestPort current readings.

Field	Type	Label	Description
gp1_bat	double		Current on GP1 battery voltage (A)
gp2_bat	double		Current on GP2 battery voltage (A)
gp3_bat	double		Current on GP3 battery voltage (A)
gp_20v	double		Current on common 20V supply (A)

GuestPortDevice

GuestPort device.

Field	Type	Label	Description
device_id	GuestPortDeviceID		Blueye device identifier
manufacturer	string		Manufacturer name
name	string		Device name
serial_number	string		Serial number
depth_rating	float		Depth rating (m)
required_blunux_version	string		Required Blunux version (x.y.z)

GuestPortDeviceList

List of guest port devices.

Field	Type	Label	Description
devices	GuestPortDevice	repeated	List of guest port devices

GuestPortInfo

GuestPort information.

Field	Type	Label	Description
gp1	GuestPortConnectorInfo		GuestPortConnectorInfo 1
gp2	GuestPortConnectorInfo		GuestPortConnectorInfo 2
gp3	GuestPortConnectorInfo		GuestPortConnectorInfo 3

GuestPortRestartInfo

GuestPort restart information.

Field	Type	Label	Description
power_off_duration	double		Duration to keep the guest ports off (s)

Imu

Imu data in drone body frame

x - forward y - right z - down

Field	Type	Label	Description
accelerometer	Vector3		Acceleration (g)
gyroscope	Vector3		Angular velocity (rad/s)
magnetometer	Vector3		Magnetic field (μT)
temperature	float		Temperature (°C)

IperfStatus

Connection speed between drone and Surface Unit.

Field	Type	Label	Description
sent	float		Transfer rate from drone to Surface Unit (Mbit/s)
received	float		Transfer rate from Surface Unit to drone (Mbit/s)

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.

Field	Type	Label	Description
value	float		Laser intensity, any value above 0 turns the laser on (0..1)

LatLongPosition

Latitude and longitude position in WGS 84 decimal degrees format.

Field	Type	Label	Description
latitude	double		Latitude (°)
longitude	double		Longitude (°)

Lights

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

Field	Type	Label	Description
value	float		Light intensity (0..1)

MedusaSpectrometerData

Medusa gamma ray sensor spectrometer data

Field	Type	Label	Description
drone_time	google.protobuf.Timestamp		Time stamp when the data is received
sensor_time	google.protobuf.Timestamp		Time stamp the sensor reports
realtime	float		Time the sensor actually measured (s)
livetime	float		Time the measurement took (s)
total	uint32		Total counts inside the spectrum
countrate	uint32		Counts per second inside the spectrum (rounded)
cosmics	uint32		Detected counts above the last channel

MotionInput

Motion input from client.

Used to indicate the desired motion in each direction. Typically these values map to the left and right joystick for motion, and the left and right trigger for the slow and boost modifiers.

Field	Type	Label	Description
surge	float		Forward (positive) and backwards (negative) movement. (-1..1)
sway	float		Right (positive) and left (negative) lateral movement (-1..1)
heave	float		Descend (positive) and ascend (negative) movement (-1..1)
yaw	float		Left (positive) and right (negative) movement (-1..1)
slow	float		Multiplier used to reduce the speed of the motion (0..1)
boost	float		Multiplier used to increase the speed of the motion (0..1)

MultibeamServo

Servo message used to represent the angle of the servo.

Field	Type	Label	Description
angle	float		Servo degrees (-30..30)

NStreamers

Number of spectators connected to video stream.

Field	Type	Label	Description
main	int32		The number of clients to the main camera stream
guestport	int32		The number of clients to the guestport camera stream

NavigationSensorStatus

Navigation sensor used in the position observer with validity state

Field	Type	Label	Description
sensor_id	NavigationSensorID		Sensor id
is_valid	bool		Sensor validity

OverlayParameters

Overlay parameters.

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

Field	Type	Label	Description
temperature_enabled	bool		If temperature should be included
depth_enabled	bool		If depth should be included
heading_enabled	bool		If heading should be included
tilt_enabled	bool		If camera tilt angle should be included
thickness_enabled	bool		If camera tilt angle should be included
date_enabled	bool		If date should be included
distance_enabled	bool		If distance should be included
altitude_enabled	bool		If altitude should be included
cp_probe_enabled	bool		If cp-probe should be included
medusa_enabled	bool		If medusa measurement should be included
drone_location_enabled	bool		If the drone location coordinates should be included
logo_type	LogoType		Which logo should be used
depth_unit	DepthUnit		Which unit should be used for depth: Meter, Feet or None
temperature_unit	TemperatureUnit		Which unit should be used for temperature: Celcius or Fahrenheit
thickness_unit	ThicknessUnit		Which unit should be used for thickness: Millimeters or Inches
timezone_offset	int32		Timezone offset from UTC (min)
margin_width	int32		Horizontal margins of text elements (px)
margin_height	int32		Vertical margins of text elements (px)
font_size	FontSize		Font size of text elements
title	string		Optional title
subtitle	string		Optional subtitle
date_format	string		Posix strftime format string for time stamp
shading	float		Pixel intensity to subtract from text background (0..1), 0: transparent, 1: black

PingerConfiguration

Pinger configuration.

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

Field	Type	Label	Description
mounting_direction	PingerConfiguration.MountingDirection		Mounting direction of the pinger

PositionEstimate

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

Field	Type	Label	Description
northing	float		Position from reset point (m)
easting	float		Position from reset point (m)
heading	float		Gyro based heading estimate (continous radians)
surge_rate	float		Velocity in surge (m/s)
sway_rate	float		Velocity in sway (m/s)
yaw_rate	float		Rotaion rate in yaw (rad/s)
ocean_current	float		Estimated ocean current (m/s)
odometer	float		Travelled distance since reset (m)
is_valid	bool		If the estimate can be trusted
global_position	LatLongPosition		Best estimate of the global position in decimal degrees
navigation_sensors	NavigationSensorStatus	repeated	List of available sensors with status

RecordOn

Which cameras are supposed to be recording

Field	Type	Label	Description
main	bool		Record the main camera
guestport	bool		Record external camera

RecordState

Camera recording state.

Field	Type	Label	Description
main_is_recording	bool		If the main camera is recording
main_seconds	int32		Main record time (s)
guestport_is_recording	bool		If the guestport camera is recording
guestport_seconds	int32		Guestport record time (s)

Reference

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

Field	Type	Label	Description
surge	float		Reference from joystick surge input (0..1)
sway	float		Reference from joystick sway input (0..1)
heave	float		Reference from joystick heave input (0..1)
yaw	float		Reference from joystick yaw input (0..1)
depth	float		Reference drone depth below surface (m)
heading	float		Reference used in auto heading mode, gyro based (°)
altitude	float		Reference used in auto altitude mode (m)

ResetPositionSettings

ResetPositionSettings used during reset of the position estimate.

Field	Type	Label	Description
heading_source_during_reset	HeadingSource		Option to use the drone compass or due North as heading during reset
manual_heading	float		Heading in degrees (0-359)
reset_coordinate_source	ResetCoordinateSource		Option to use the device GPS or a manual coordinate.
reset_coordinate	LatLongPosition		Reset coordinate in decimal degrees

StationKeepingState

Station keeping state.

Field	Type	Label	Description
enabled	bool		If station keeping is enabled

StorageSpace

Storage space.

Field	Type	Label	Description
total_space	int64		Total bytes of storage space (B)
free_space	int64		Available bytes of storage space (B)

SystemTime

System time.

Field	Type	Label	Description
unix_timestamp	google.protobuf.Timestamp		Unix timestamp

ThicknessGauge

Thickness measurement data from a Cygnus Thickness Gauge.

Field	Type	Label	Description
thickness_measurement	float		Thickness measurement of a steel plate
echo_count	uint32		Indicating the quality of the reading when invalid (0-3)
sound_velocity	uint32		Speed of sound in the steel member (m/s)
is_measurement_valid	bool		Indicating if the measurement is valid

TiltAngle

Angle of tilt camera in degrees.

Field	Type	Label	Description
value	float		Tilt angle (°)

TiltStabilizationState

Tilt stabilization state.

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

Field	Type	Label	Description
enabled	bool		If tilt stabilization is enabled

TiltVelocity

Relative velocity of tilt

Field	Type	Label	Description
value	float		Relative angular velocity of tilt (-1..1), negative means down and positive means up

Vector3

Vector with 3 elements

Field	Type	Label	Description
x	double		x-component
y	double		y-component
z	double		z-component

WaterDensity

Water density.

Used to specify the water density the drone is operating in, to achieve more accruate depth measurements.

Field	Type	Label	Description
value	float		Salinity (kg/l)

WaterTemperature

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

Field	Type	Label	Description
value	float		Water temperature (°C)

WeatherVaningState

Weather vaning state.

Field	Type	Label	Description
enabled	bool		If weather vaning is enabled

BatteryBQ40Z50.BatteryStatus.BatteryError

Battery errror code from BQ40Z50 BMS data sheet.

Name	Number	Description
BATTERY_ERROR_UNSPECIFIED	0
BATTERY_ERROR_OK	1
BATTERY_ERROR_BUSY	2
BATTERY_ERROR_RESERVED_COMMAND	3
BATTERY_ERROR_UNSUPPORTED_COMMAND	4
BATTERY_ERROR_ACCESS_DENIED	5
BATTERY_ERROR_OVERFLOW_UNDERFLOW	6
BATTERY_ERROR_BAD_SIZE	7
BATTERY_ERROR_UNKNOWN_ERROR	8

CalibrationState.Status

Status of the compass calibration procedure.

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

Name	Number	Description
STATUS_UNSPECIFIED	0	Unspecified status
STATUS_NOT_CALIBRATING	1	Compass is not currently calibrating
STATUS_CALIBRATING_NO_AXIS	2	Compass is calibrating but active calibration axis cannot be determined
STATUS_CALIBRATING_X_POSITIVE	3	Compass is calibrating and the positive X axis is active
STATUS_CALIBRATING_X_NEGATIVE	4	Compass is calibrating and the negative X axis is active
STATUS_CALIBRATING_Y_POSITIVE	5	Compass is calibrating and the positive Y axis is active
STATUS_CALIBRATING_Y_NEGATIVE	6	Compass is calibrating and the negative Y axis is active
STATUS_CALIBRATING_Z_POSITIVE	7	Compass is calibrating and the positive Z axis is active
STATUS_CALIBRATING_Z_NEGATIVE	8	Compass is calibrating and the negative Z axis is active
STATUS_CALIBRATING_THRUSTER	9	Compass is calibrating for thruster interferance

Camera

Which camera to control.

Name	Number	Description
CAMERA_UNSPECIFIED	0	Camera not specified
CAMERA_MAIN	1	Main camera
CAMERA_GUESTPORT	2	Guestport camera

DepthUnit

Available depth units.

Name	Number	Description
DEPTH_UNIT_UNSPECIFIED	0	Depth unit not specified
DEPTH_UNIT_METERS	1	Depth should be displayed as meters
DEPTH_UNIT_FEET	2	Depth should be displayed as feet

FontSize

Available font sizes for overlay text elements.

Name	Number	Description
FONT_SIZE_UNSPECIFIED	0	Font size not specified
FONT_SIZE_PX15	1	15 px
FONT_SIZE_PX20	2	20 px
FONT_SIZE_PX25	3	25 px
FONT_SIZE_PX30	4	30 px
FONT_SIZE_PX35	5	35 px
FONT_SIZE_PX40	6	40 px

Framerate

Available camera framerates.

Name	Number	Description
FRAMERATE_UNSPECIFIED	0	Framerate not specified
FRAMERATE_FPS_30	1	30 frames per second
FRAMERATE_FPS_25	2	25 frames per second

GuestPortDeviceID

GuestPort device ID.

Name	Number	Description
GUEST_PORT_DEVICE_ID_UNSPECIFIED	0	Unspecified
GUEST_PORT_DEVICE_ID_BLIND_PLUG	1	Blueye blind plug
GUEST_PORT_DEVICE_ID_TEST_STATION	2	Blueye test station
GUEST_PORT_DEVICE_ID_DEBUG_SERIAL	3	Blueye debug serial
GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT	4	Blueye Light
GUEST_PORT_DEVICE_ID_BLUEYE_CAM	5	Blueye Cam
GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_LUMEN	6	Blue Robotics Lumen
GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_NEWTON	7	Blue Robotics Newton
GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_PING_SONAR	8	Blue Robotics Ping Sonar
GUEST_PORT_DEVICE_ID_BLUEPRINT_LAB_REACH_ALPHA	9	Blueprint Lab Reach Alpha
GUEST_PORT_DEVICE_ID_WATERLINKED_DVL_A50	10	Waterlinked DVL A50
GUEST_PORT_DEVICE_ID_IMPACT_SUBSEA_ISS360	11	Impact Subsea ISS360 Sonar
GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_SEATRAC_X010	12	Blueprint Subsea Seatrac X110
GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M750D	13	Blueprint Subsea Oculus M750d
GUEST_PORT_DEVICE_ID_CYGNUS_MINI_ROV_THICKNESS_GAUGE	14	Cygnus Mini ROV Thickness Gauge
GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_PING360_SONAR	15	Blue Robotics Ping360 Scanning Imaging Sonar
GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_720IM	16	Tritech Gemini 720im Multibeam Sonar
GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT_PAIR	17	Blueye Light Pair
GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_MICRON	18	Tritech Micron Gemini
GUEST_PORT_DEVICE_ID_OCEAN_TOOLS_DIGICP	19	Ocean Tools DigiCP
GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_720IK	20	Tritech Gemini 720ik Multibeam Sonar
GUEST_PORT_DEVICE_ID_NORTEK_NUCLEUS_1000	21	Nortek Nucleus 1000 DVL
GUEST_PORT_DEVICE_ID_BLUEYE_GENERIC_SERVO	22	Blueye Generic Servo
GUEST_PORT_DEVICE_ID_BLUEYE_MULTIBEAM_SERVO	23	Blueye Multibeam Servo
GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_DETACHABLE_NEWTON	24	Detachable Blue Robotics Newton
GUEST_PORT_DEVICE_ID_INSITU_AQUA_TROLL_500	25	In-Situ Aqua TROLL 500
GUEST_PORT_DEVICE_ID_MEDUSA_RADIOMETRICS_MS100	26	Medusa Radiometrics Gamma Ray Sensor
GUEST_PORT_DEVICE_ID_LASER_TOOLS_SEA_BEAM	27	Laser Tools Sea Beam Underwater Laser
GUEST_PORT_DEVICE_ID_SPOT_X_LASER_SCALERS	28	Spot X Laser Scalers
GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M1200D	29	Blueprint Subsea Oculus M1200d
GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M3000D	30	Blueprint Subsea Oculus M3000d
GUEST_PORT_DEVICE_ID_INSITU_AQUA_TROLL_100	31	In-Situ Aqua TROLL 100
GUEST_PORT_DEVICE_ID_INSITU_RDO_PRO_X	32	In-Situ RDO PRO-X
GUEST_PORT_DEVICE_ID_INSITU_RDO_BLUE	33	In-Situ RDO Blue

GuestPortError

GuestPort error.

Name	Number	Description
GUEST_PORT_ERROR_UNSPECIFIED	0	Unspecified value
GUEST_PORT_ERROR_NOT_CONNECTED	1	Device not connected
GUEST_PORT_ERROR_READ_ERROR	2	EEPROM read error
GUEST_PORT_ERROR_NOT_FLASHED	3	Connector not flashed
GUEST_PORT_ERROR_CRC_ERROR	4	Wrong CRC for protobuf message
GUEST_PORT_ERROR_PARSE_ERROR	5	Protobuf message cannot be parsed

GuestPortNumber

GuestPort number.

Name	Number	Description
GUEST_PORT_NUMBER_UNSPECIFIED	0	Unspecified
GUEST_PORT_NUMBER_PORT_1	1	Guest port 1
GUEST_PORT_NUMBER_PORT_2	2	Guest port 2
GUEST_PORT_NUMBER_PORT_3	3	Guest port 3

HeadingSource

Heading source used during reset of the position estimate.

Name	Number	Description
HEADING_SOURCE_UNSPECIFIED	0	Unspecified
HEADING_SOURCE_DRONE_COMPASS	1	Uses the drone compass to set the heading
HEADING_SOURCE_MANUAL_INPUT	2	Used when the user sets the heading manually

LogoType

Available logo types.

Name	Number	Description
LOGO_TYPE_UNSPECIFIED	0	Logo type not specified
LOGO_TYPE_NONE	1	Do not add any logo
LOGO_TYPE_DEFAULT	2	Add default logo
LOGO_TYPE_CUSTOM	3	Add user defined logo

Model

Drone models produced by Blueye

Name	Number	Description
MODEL_UNSPECIFIED	0	ModelName not specified
MODEL_PIONEER	1	Blueye Pioneer, the first model
MODEL_PRO	2	Blueye Pro, features camera tilt
MODEL_X1	4	Blueye X1, features camera tilt and one guest port
MODEL_X3	3	Blueye X3, features support for peripherals
MODEL_NEXT	5	Blueye ?

NavigationSensorID

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

Name	Number	Description
NAVIGATION_SENSOR_ID_UNSPECIFIED	0	Unspecified
NAVIGATION_SENSOR_ID_WATERLINKED_DVL_A50	1	Water Linked DVL A50
NAVIGATION_SENSOR_ID_WATERLINKED_UGPS_G2	2	Water Linked UGPS G2
NAVIGATION_SENSOR_ID_NMEA	3	NMEA stream from external positioning system

PingerConfiguration.MountingDirection

Name	Number	Description
MOUNTING_DIRECTION_UNSPECIFIED	0	Mounting direction is unspecified
MOUNTING_DIRECTION_FORWARDS	1	Pointing forwards from the drones perspective
MOUNTING_DIRECTION_DOWNWARDS	2	Pointing downwards from the drones perspective

PressureSensorType

Depth sensors used by the drone.

Name	Number	Description
PRESSURE_SENSOR_TYPE_UNSPECIFIED	0	Depth sensor type not specified
PRESSURE_SENSOR_TYPE_NOT_CONNECTED	1	No se
PRESSURE_SENSOR_TYPE_MS5837_30BA26	2	Thh MS5837 30BA26 pressure sensor
PRESSURE_SENSOR_TYPE_KELLER_PA7LD	3	The extended depth sensor using the Keller PA7LD pressure sensor
PRESSURE_SENSOR_TYPE_MS5637_02BA03	4	The internal pressure sensor using the MS5637 02BA03 pressure sensor

ResetCoordinateSource

Name	Number	Description
RESET_COORDINATE_SOURCE_UNSPECIFIED	0	Unspecified, fallback to device GPS
RESET_COORDINATE_SOURCE_DEVICE_GPS	1	Uses the device GPS to set the reset point
RESET_COORDINATE_SOURCE_MANUAL	2	Uses a coordinate in decimal degrees to set the reset point

Resolution

Available camera resolutions.

Name	Number	Description
RESOLUTION_UNSPECIFIED	0	Resolution not specified
RESOLUTION_FULLHD_1080P	1	1080p Full HD resolution
RESOLUTION_HD_720P	2	720p HD resolution

TemperatureUnit

Available temperature units.

Name	Number	Description
TEMPERATURE_UNIT_UNSPECIFIED	0	Temperature unit not specfied
TEMPERATURE_UNIT_CELSIUS	1	Temperature should be displayed as Celcius
TEMPERATURE_UNIT_FAHRENHEIT	2	Temperature should be displayed as Fahrenheit

ThicknessUnit

Available thickness units.

Name	Number	Description
THICKNESS_UNIT_UNSPECIFIED	0	Thickness unit not specified
THICKNESS_UNIT_MILLIMETERS	1	Thickness should be displayed as millimeters
THICKNESS_UNIT_INCHES	2	Thickness should be displayed as inches

Top

req_rep.proto

Request reply

These messages define request / reply messages for the Blueye drone.

ConnectClientRep

Response after connecting a client to the drone.

Contains information about which client is in control, and a list of all connected clients.

Field	Type	Label	Description
client_id	uint32		The assigned ID of this client.
client_id_in_control	uint32		The ID of the client in control of the drone.
connected_clients	ConnectedClient	repeated	List of connected clients.

ConnectClientReq

Connect a new client to the drone.

Field	Type	Label	Description
client_info	ClientInfo		Information about the client connecting to the drone.

DisconnectClientRep

Response after disconnecting a client from the drone.

Contains information about which clients are connected and in control.

Field	Type	Label	Description
client_id_in_control	uint32		The ID of the client in control of the drone.
connected_clients	ConnectedClient	repeated	List of connected clients.

DisconnectClientReq

Disconnect a client from the drone.

This request will remove the client from the list of connected clients. It allows clients to disconnect instantly, without waiting for a watchdog to clear the client in control, or promote a new client to be in control.

Field	Type	Label	Description
client_id	uint32		The assigned ID of the client to disconnect.

GetBatteryRep

Response with essential battery information.

Field	Type	Label	Description
battery	Battery		Essential battery information.

GetBatteryReq

Request essential battery information.

Can be used to instantly get battery information, instead of having to wait for the BatteryTel message to be received.

GetCameraParametersRep

Response with the currently set camera parameters.

Field	Type	Label	Description
camera_parameters	CameraParameters		The currently set camera parameters.

GetCameraParametersReq

Request to get the currently set camera parameters.

Field	Type	Label	Description
camera	Camera		Which camera to read camera parameters from.

GetOverlayParametersRep

Response with the currently set video overlay parameters.

Field	Type	Label	Description
overlay_parameters	OverlayParameters		The currently set overlay parameters.

GetOverlayParametersReq

Request to get currently set video overlay parameters.

GetTelemetryRep

Response with latest telemetry

Field	Type	Label	Description
payload	google.protobuf.Any		The latest telemetry data, empty if no data available.

GetTelemetryReq

Request to get latest telemetry data

Field	Type	Label	Description
message_type	string		Message name, f. ex. "AttitudeTel"

PingRep

Response message from a PingReq request.

PingReq

The simplest message to use to test request/reply communication with the drone.

The drone replies with a PingRep message immediately after receiving the PingReq.

SetCameraParametersRep

Response after setting the camera parameters.

SetCameraParametersReq

Request to set camera parameters.

Field	Type	Label	Description
camera_parameters	CameraParameters		The camera parameters to apply.

SetOverlayParametersRep

Response after setting video overlay parameters.

SetOverlayParametersReq

Request to set video overlay parameters.

Field	Type	Label	Description
overlay_parameters	OverlayParameters		The video overlay parameters to apply.

SetPubFrequencyRep

Response after updating publish frequency

Field	Type	Label	Description
success	bool		True if message name valid and frequency successfully updated.

SetPubFrequencyReq

Request to update the publish frequency

Field	Type	Label	Description
message_type	string		Message name, f. ex. "AttitudeTel"
frequency	float		Publish frequency (max 100 Hz).

SetThicknessGaugeParametersRep

Response after setting thicknes gauge parameters.

SetThicknessGaugeParametersReq

Request to set parameters for ultrasonic thickness gauge.

The sound velocity is used to calculate the thickness of the material being measured.

Field	Type	Label	Description
sound_velocity	uint32		Sound velocity in m/s

SyncTimeRep

Response after setting the system time on the drone.

Field	Type	Label	Description
success	bool		If the time was set successfully.

SyncTimeReq

Request to set the system time on the drone.

Field	Type	Label	Description
time	SystemTime		The time to set on the drone.

Top

telemetry.proto

Telemetry

These messages define telemetry messages from the Blueye drone.

AltitudeTel

Receive the current altitude of the drone.

Field	Type	Label	Description
altitude	Altitude		The altitude of the drone.

AquaTrollProbeMetadataTel

Metadata from the In-Situ Aqua Troll probe's common registers

Field	Type	Label	Description
probe	AquaTrollProbeMetadata		AquaTroll message containing sensor array.

AquaTrollSensorMetadataTel

Metadata from a single sensor from In-Situ Aqua Troll probe

Field	Type	Label	Description
sensors	AquaTrollSensorMetadataArray		AquaTroll message containing sensor array.

AquaTrollSensorParametersTel

Single sensor from In-Situ Aqua Troll probe

Field	Type	Label	Description
sensors	AquaTrollSensorParametersArray		AquaTroll message containing parameter array.

AttitudeTel

Receive the current attitude of the drone.

Field	Type	Label	Description
attitude	Attitude		The attitude of the drone.

BatteryBQ40Z50Tel

Receive detailed information about a battery using the BQ40Z50 battery management system.

Field	Type	Label	Description
battery	BatteryBQ40Z50		Detailed battery information.

BatteryTel

Receive essential information about the battery status.

Field	Type	Label	Description
battery	Battery		Essential battery information.

CPUTemperatureTel

Field	Type	Label	Description
temperature	CPUTemperature

CalibratedImuTel

Calibrated IMU data

Field	Type	Label	Description
imu	Imu

CalibrationStateTel

Field	Type	Label	Description
calibration_state	CalibrationState

CanisterBottomHumidityTel

Receive humidity information from the bottom canister.

Field	Type	Label	Description
humidity	CanisterHumidity		Humidity information

CanisterBottomTemperatureTel

Receive temperature information from the bottom canister.

Field	Type	Label	Description
temperature	CanisterTemperature		Temperature information.

CanisterTopHumidityTel

Receive humidity information from the top canister.

Field	Type	Label	Description
humidity	CanisterHumidity		Humidity information

CanisterTopTemperatureTel

Receive temperature information from the top canister.

Field	Type	Label	Description
temperature	CanisterTemperature		Temperature information.

ConnectedClientsTel

List of connected clients telemetry message.

Field	Type	Label	Description
client_id_in_control	uint32		The client id of the client in control.
connected_clients	ConnectedClient	repeated	List of connected clients.

ControlForceTel

Field	Type	Label	Description
control_force	ControlForce

ControlModeTel

Receive the current state of the control system.

Field	Type	Label	Description
state	ControlMode		State of the control system.

ControllerHealthTel

Field	Type	Label	Description
controller_health	ControllerHealth

CpProbeTel

Cathodic Protection Potential probe telemetry message

Field	Type	Label	Description
cp_probe	CpProbe		Reading from cp probe.

DataStorageSpaceTel

Field	Type	Label	Description
storage_space	StorageSpace

DepthTel

Field	Type	Label	Description
depth	Depth

DiveTimeTel

Receive the dive time of the drone.

Field	Type	Label	Description
dive_time	DiveTime		The current dive time of the drone.

DroneInfoTel

Receive metadata and information about the connected drone.

Field	Type	Label	Description
drone_info	DroneInfo		Various metadata such as software versions and serial number.

DroneTimeTel

Receive time information from the drone.

Field	Type	Label	Description
real_time_clock	SystemTime		The real-time clock of the drone.
monotonic_clock	SystemTime		The monotonic clock of the drone (time since power on).

ErrorFlagsTel

Receive currently set error flags.

Field	Type	Label	Description
error_flags	ErrorFlags		Currently set error flags on the drone.

ForwardDistanceTel

Field	Type	Label	Description
forward_distance	ForwardDistance

GenericServoTel

State of a generic servo

Field	Type	Label	Description
servo	GenericServo		Servo state

GuestPortCurrentTel

GuestPort current readings

Field	Type	Label	Description
current	GuestPortCurrent

GuestPortLightsTel

Receive the status of any guest port lights connected to the drone.

Field	Type	Label	Description
lights	Lights

Imu1Tel

Raw IMU data from IMU 1

Field	Type	Label	Description
imu	Imu

Imu2Tel

Raw IMU data from IMU 2

Field	Type	Label	Description
imu	Imu

IperfTel

Field	Type	Label	Description
status	IperfStatus

LaserTel

Receive the status of any lasers connected to the drone.

Field	Type	Label	Description
laser	Laser

LightsTel

Receive the status of the main lights of the drone.

Field	Type	Label	Description
lights	Lights

MedusaSpectrometerDataTel

Medusa gamma ray sensor spectrometer data

Field	Type	Label	Description
data	MedusaSpectrometerData

MultibeamServoTel

State of the servo installed in the multibeam

Field	Type	Label	Description
servo	MultibeamServo		Multibeam servo state

NStreamersTel

Field	Type	Label	Description
n_streamers	NStreamers

PilotGPSPositionTel

Field	Type	Label	Description
position	LatLongPosition

PositionEstimateTel

Field	Type	Label	Description
position_estimate	PositionEstimate

RecordStateTel

Field	Type	Label	Description
record_state	RecordState

ReferenceTel

Field	Type	Label	Description
reference	Reference

ThicknessGaugeTel

Thickness gauge measurement telemetry message.

Field	Type	Label	Description
thickness_gauge	ThicknessGauge		Tickness measurement with a cygnus gauge.

TiltAngleTel

Field	Type	Label	Description
angle	TiltAngle

TiltStabilizationTel

Field	Type	Label	Description
state	TiltStabilizationState

VideoStorageSpaceTel

Field	Type	Label	Description
storage_space	StorageSpace

WaterTemperatureTel

Field	Type	Label	Description
temperature	WaterTemperature

Scalar Value Types

.proto Type	Notes	C++	Java	Python	Go	C#	PHP	Ruby
double		double	double	float	float64	double	float	Float
float		float	float	float	float32	float	float	Float
int32	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
int64	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead.	int64	long	int/long	int64	long	integer/string	Bignum
uint32	Uses variable-length encoding.	uint32	int	int/long	uint32	uint	integer	Bignum or Fixnum (as required)
uint64	Uses variable-length encoding.	uint64	long	int/long	uint64	ulong	integer/string	Bignum or Fixnum (as required)
sint32	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
sint64	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s.	int64	long	int/long	int64	long	integer/string	Bignum
fixed32	Always four bytes. More efficient than uint32 if values are often greater than 2^28.	uint32	int	int	uint32	uint	integer	Bignum or Fixnum (as required)
fixed64	Always eight bytes. More efficient than uint64 if values are often greater than 2^56.	uint64	long	int/long	uint64	ulong	integer/string	Bignum
sfixed32	Always four bytes.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
sfixed64	Always eight bytes.	int64	long	int/long	int64	long	integer/string	Bignum
bool		bool	boolean	boolean	bool	bool	boolean	TrueClass/FalseClass
string	A string must always contain UTF-8 encoded or 7-bit ASCII text.	string	String	str/unicode	string	string	string	String (UTF-8)
bytes	May contain any arbitrary sequence of bytes.	string	ByteString	str	[]byte	ByteString	string	String (ASCII-8BIT)