Control
The Control domain covers the vessel's mode, arming, control authority, and actuator state.
ControlService provides command (unary) and state (server-stream) RPCs:
| Command | State stream |
|---|---|
SetArm | StreamArmState |
SetModeControl | StreamModeControl |
SetModeSpeed | StreamModeSpeed |
SetControlUnit | StreamActiveControlUnit |
PublishJoystick (client stream) | StreamControlUnits |
| — | StreamActuators |
| — | StreamEmergencyDisengage |
warning
Control commands move a physical vessel. Confirm authority and mode before issuing them, and observe the corresponding state stream to verify the result.
See Command mode and arming and Remote control for driving the vessel manually with a joystick.