# Live telemetry from an unmanned aircraft.
#
# This is the shape of entity a MAVLink or vendor driver pushes a few times per
# second. Every subsystem gets its own component, so a UI can show battery,
# link quality and mission progress without a bespoke drone schema - and the
# same components mean the same thing on a boat, a radio or a ground robot.
#
# push it with:  hydris ec apply uav.yaml

id: example.uav.spectre
label: SPECTRE-1

geo:
  latitude: 54.1866
  longitude: 12.0952
  altitude: 118

# full 3D attitude as a unit quaternion. the outer key is the component,
# the inner one is the field inside it.
# this is a heading of 030: quaternion yaw runs counter-clockwise while
# bearings run clockwise from north, so z = sin(-heading/2)
orientation:
  orientation: { x: 0, y: 0, z: -0.2588, w: 0.9659 }

# heading only, for consumers that do not care about roll and pitch
bearing:
  azimuth: 30

kinematics:
  # ground-referenced velocity in m/s, NOT body frame
  velocityEnu:
    east: 8.1
    north: 14.0
    up: 0.4
  angularVelocityBody:
    roll_rate: 0
    pitch_rate: 0
    yaw_rate: 0.12

navigation:
  mode: NavigationModeAutonomous
  armed: true
  waypoint_current: 3
  waypoint_total: 7

power:
  battery_charge_remaining: 0.62
  voltage: 22.4
  current_a: 18.7
  remaining_seconds: 900

gnss:
  fix_type: GnssFixTypeRtkFixed
  satellites_visible: 24
  satellites_used: 19
  hdop: 0.7

# our aircraft, so it gets a device component and shows up as an asset with a
# readiness state: positioned, device active, link connected
device:
  class: uav
  category: Air
  state: DeviceStateActive
  unique_hardware_id: spectre.0f31a7

link:
  status: LinkStatusConnected
  rssi_dbm: -67
  snr_db: 14
  link_quality_percent: 92
  rf_mode: 50Hz
  packet_rate_hz: 50

classification:
  taxonomy:
    - confidence:
        confidence: 1.0
      vehicle:
        unmanned: {}
        air:
          rotary: {}

administrative:
  manufacturer: Example Robotics
  model: Spectre 4
  owner: Team North

symbol:
  milStd2525C: SFAPMFQ---

routing:
  channels:
    - {}