GlobalConstraintTypeEnum
Defines types for global constraints - constraints that apply to all vehicles without being announced by a specific node. When used, NodeConstraint.node is absent and NodeConstraint.global_type is set. Each entry documents which GeneralCons
base::constraints::GlobalConstraintTypeEnum
Defines types for global constraints - constraints that apply to all vehicles
without being announced by a specific node.
When used, NodeConstraint.node is absent and NodeConstraint.global_type is set.
Each entry documents which GeneralConstraintTypeEnum case carries the value
in NodeConstraint.constraint, or states that no value is needed (the type
is self-describing).
Stereotypes: DataElement · idlEnum
Values
| Field | Type | Multiplicity | Description |
|---|---|---|---|
GlobalConstraintTypeEnum_LOST_LINK_BEHAVIOR_LOITER | - | [1..1] | Vehicle shall loiter in place on loss of command and control link. |
GlobalConstraintTypeEnum_LOST_LINK_BEHAVIOR_RTH | - | [1..1] | Vehicle shall return to home on loss of command and control link. |
GlobalConstraintTypeEnum_LOST_LINK_BEHAVIOR_LAND | - | [1..1] | Vehicle shall land immediately on loss of command and control link. |
GlobalConstraintTypeEnum_LOST_LINK_BEHAVIOR_TERMINATE | - | [1..1] | Vehicle shall terminate flight on loss of command and control link. |
GlobalConstraintTypeEnum_EMERGENCY_MODE_HOLD | - | [1..1] | Vehicle shall hold current position on emergency mode activation. |
GlobalConstraintTypeEnum_EMERGENCY_MODE_DESCEND | - | [1..1] | Vehicle shall descend in place on emergency mode activation. |
GlobalConstraintTypeEnum_EMERGENCY_MODE_RTH | - | [1..1] | Vehicle shall return to home on emergency mode activation. |
GlobalConstraintTypeEnum_EMERGENCY_MODE_LAND | - | [1..1] | Vehicle shall land immediately on emergency mode activation. |
GlobalConstraintTypeEnum_SPEED_LIMIT | - | [1..1] | Maximum speed limit applied globally or within optional area/time. Value: GeneralConstraintTypeEnum_RANGE (m/s). |
GlobalConstraintTypeEnum_SEPARATION_MINIMUM | - | [1..1] | Minimum separation distance between vehicles. Value: GeneralConstraintTypeEnum_RANGE (m). Applies to horizontal separation. Vertical separation should be handled by inclusion/exclusion volumes. |
GlobalConstraintTypeEnum_DENSITY_LIMIT | - | [1..1] | Maximum number of vehicles permitted within the constraint area simultaneously. Value: GeneralConstraintTypeEnum_RANGE (count, integer). |
GlobalConstraintTypeEnum_EMCON_ROUTINE | - | [1..1] | All vehicle payloads shall operate in routine emission mode. |
GlobalConstraintTypeEnum_EMCON_ESSENTIAL | - | [1..1] | All vehicle payloads shall restrict to essential emissions only. |
GlobalConstraintTypeEnum_EMCON_SILENCE | - | [1..1] | All vehicle payloads shall observe emission silence. |
GlobalConstraintTypeEnum_ZONE_INCLUSION | - | [1..1] | Zone that node needs to be in. |
GlobalConstraintTypeEnum_ZONE_EXCLUSION | - | [1..1] | Zone that node cannot enter. |
GeneralConstraintValueToggle
Union member for setting or reporting constraint value as boolean.
NodeConstraint
Sets a constraint for a specific node, global constraints for specific node or global constraint for all nodes. For node specific: node has to be set, global_constraint_type should not, constraint should be set. Node specific constraint are