@deeptrekker/api-domain 0.48.1 → 0.50.0

package/dist/schemas/schema.json

@@ -601,10 +601,18 @@
       "additionalProperties": false,
       "description": "Crawler drive",
       "properties": {
+        "calibrator": {
+          "description": "Calibrator\n\n| Calibrator  | Front-end (request) | Back-end (response)  | |-------------|---------------------|----------------------| | `true`      | Calibrate           | -                    | | `false`     | Cancel Calibration  | -                    | | `undefined` | -                   | -                    |",
+          "type": "boolean"
+        },
         "driveMode": {
           "$ref": "#/definitions/CrawlerDriveMode",
           "description": "Drive mode"
         },
+        "motorsDisabled": {
+          "description": "Motors Disabled\n\nWhen enabled, prevents any motor commands from being accepted by firmware",
+          "type": "boolean"
+        },
         "speed": {
           "description": "Negative values for reverse, positive for forward\r\nIgnored by the crawler when it is in either retrieval assist or retrieval cruise modes",
           "maximum": 100,
@@ -839,6 +847,30 @@
       },
       "type": "object"
     },
+    "GlobalPosition": {
+      "additionalProperties": false,
+      "description": "contains positional data for the ROV in the Global reference frame",
+      "properties": {
+        "latitude": {
+          "description": "Latitude (in degrees decimal)",
+          "maximum": 90,
+          "minimum": -90,
+          "type": "number"
+        },
+        "longitude": {
+          "description": "Longitude (in degrees decimal)",
+          "maximum": 180,
+          "minimum": -180,
+          "type": "number"
+        },
+        "uncertainty": {
+          "description": "Uncertainty radius (in meters)",
+          "minimum": 0,
+          "type": "number"
+        }
+      },
+      "type": "object"
+    },
     "Grabber": {
       "additionalProperties": false,
       "description": "{@link  IGrabber 📖 See extended definition } \n\nGrabber",
@@ -910,6 +942,26 @@
       ],
       "type": "object"
     },
+    "LocalPosition": {
+      "additionalProperties": false,
+      "description": "contains positional data for the ROV in the Local reference frame",
+      "properties": {
+        "easting": {
+          "description": "Easting (in meters)",
+          "type": "number"
+        },
+        "northing": {
+          "description": "Northing (in meters)",
+          "type": "number"
+        },
+        "uncertainty": {
+          "description": "Uncertainty radius (in meters)",
+          "minimum": 0,
+          "type": "number"
+        }
+      },
+      "type": "object"
+    },
     "ManualReel": {
       "additionalProperties": false,
       "description": "{@link  IManualReel 📖 See extended definition } \n\nManual Reel",
@@ -1271,11 +1323,11 @@
       "description": "Pivot vehicle type.",
       "properties": {
         "altitude": {
-          "description": "Rov altitude\n\nMeasured in meters to show relative distance to floor.\n\n### Example Payloads #### GET Requests\n\n- Random altitude {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeRandomSample.json}",
+          "description": "Rov altitude\n\nMeasured in meters to show relative distance to floor.\n\n### Example Payloads #### GET Requests\n\n- Random altitude {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeRandomSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/altitude/revolutionAltitudeValidRandomSample.json}",
           "type": "number"
         },
         "altitudeValid": {
-          "description": "Rov altitude valid\n\nAltitude validity flag\n\n### Example Payloads #### UPDATE Requests\n\n- Invalid altitude (bad data) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeInvalidSample.json}\n\n- Valid altitude (good data) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeValidSample.json}\n\n- Random altitude validity {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeValidRandomSample.json}",
+          "description": "Rov altitude valid\n\nAltitude validity flag\n\n### Example Payloads #### UPDATE Requests\n\n- Invalid altitude (bad data) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeInvalidSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/altitude/revolutionAltitudeInvalidSample.json}\n\n- Valid altitude (good data) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeValidSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/altitude/revolutionAltitudeValidSample.json}\n\n- Random altitude validity {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeValidRandomSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/altitude/revolutionAltitudeValidRandomSample.json}",
           "type": "boolean"
         },
         "auxLight": {
@@ -1283,7 +1335,7 @@
           "description": "Aux Light\n\nControls the auxiliary light attached to the Revolution.\n\n### Example Payloads #### SET Requests\n\n- Lights On (mid) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/auxLight/pivotAuxLightOnMidIntensitySample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/auxLight/revolutionAuxLightOnMidIntensitySample.json}\n\n- Lights Off {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/auxLight/revolutionAuxLightOffSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/auxLight/pivotAuxLightOffSample.json}\n\n- Lights On (max) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/auxLight/pivotAuxLightOnMaxIntensitySample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/auxLight/revolutionAuxLightOnMaxIntensitySample.json}\n\n- Arbitrary {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/auxLight/pivotAuxLightRandomSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/auxLight/revolutionAuxLightRandomSample.json}"
         },
         "bodyLeak": {
-          "description": "Body Leak Fault\n\n### Example Payloads #### UPDATE Requests\n\n- No body leak {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/bodyLeak/pivotHasNoBodyLeakSample.json}\n\n- Body leak present {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/bodyLeak/pivotHasBodyLeakSample.json}\n\n- Arbitrary {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/bodyLeak/pivotBodyLeakRandomSample.json}",
+          "description": "Body Leak Fault\n\n### Example Payloads #### UPDATE Requests\n\n- Arbitrary {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/bodyLeak/revolutionBodyLeakRandomSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/bodyLeak/pivotBodyLeakRandomSample.json}\n\n- Has no body leak fault {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/bodyLeak/revolutionHasNoBodyLeakSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/bodyLeak/pivotHasNoBodyLeakSample.json}\n\n- Has body leak fault {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/bodyLeak/revolutionHasBodyLeakSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/bodyLeak/pivotHasBodyLeakSample.json}",
           "type": "boolean"
         },
         "cameraHead": {
@@ -1307,7 +1359,7 @@
         },
         "drive": {
           "$ref": "#/definitions/RovDrive",
-          "description": "Rov Drive object\n\nCommands thrust actions for the ROV and sets drive modes\n\nSee  {@link  RovDrive }  for more details.\n\n### Example Payloads #### SET Requests\n\n- Random drive request {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/drive/pivotDriveRandomSample.json}"
+          "description": "Rov Drive object\n\nCommands thrust actions for the ROV and sets drive modes\n\nSee  {@link  RovDrive }  for more details.\n\n### Example Payloads #### SET Requests\n\n- Random drive request {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/drive/pivotDriveRandomSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/drive/revolutionDriveRandomSample.json}"
         },
         "frontLeftMotorDiagnostics": {
           "$ref": "#/definitions/MotorDiagnostics",
@@ -1327,8 +1379,12 @@
           "minimum": 0,
           "type": "number"
         },
+        "inWater": {
+          "description": "Rov in water status",
+          "type": "boolean"
+        },
         "ip": {
-          "description": "IP address\n\n### Example Payloads #### SET Requests\n\n- Arbitrary {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/ip/pivotIpRandomSample.json}",
+          "description": "IP Address ### Example Payloads #### SET Requests\n\n- Arbitrary {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/ip/revolutionRandomIpSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/ip/pivotIpRandomSample.json}",
           "type": "string"
         },
         "leftBattery": {
@@ -1345,6 +1401,10 @@
           "minimum": -180,
           "type": "number"
         },
+        "position": {
+          "$ref": "#/definitions/Position",
+          "description": "Contains positional data about the ROV.\n\n### Example payloads\n#### UPDATE Requests\n\n- Invalid position sample\n- Revolution\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionPositionInvalidSample.json}\n- Pivot\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotPositionInvalidSample.json}\n\n- Arbitrary position sample\n- Revolution\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionPositionRandomSample.json}\n- Pivot\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotPositionRandomSample.json}\n\n#### UPDATE Requests\n\n- Arbitrary Local position only\n- Revolution\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionLocalPositionSample.json}\n- Pivot\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotLocalPositionRandomSample.json}\n\n- Arbitrary Global position only\n- Revolution\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionGlobalPositionSample.json}\n- Pivot\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotGlobalPositionRandomSample.json}"
+        },
         "rearLeftMotorDiagnostics": {
           "$ref": "#/definitions/MotorDiagnostics",
           "description": "Motor Diagnostics\n\n### Example Payloads #### GET Requests\n\n* - Arbitrary (Rear Left Motor) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/thrusters/rearLeftThruster/pivotRearLeftMotorDiagnosticsRandomSample.json}\n\n- Resting position (Rear Left Motor) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/thrusters/rearLeftThruster/pivotRearLeftMotorDiagnosticsRestingSample.json}"
@@ -1364,9 +1424,13 @@
           "type": "number"
         },
         "sensorPodLeak": {
-          "description": "Sensor Pod Leak\n\n### Example Payloads #### UPDATE Requests\n\n- No body leak {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/sensorPod/pivotSensorPodHasNoLeakSample.json}\n\n- Body leak present {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/sensorPod/pivotSensorPodHasLeakSample.json}\n\n- Arbitrary {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/sensorPod/pivotSensorPodLeakRandomSample.json}",
+          "description": "Sensor Pod Leak Fault\n\nCommon across all ROV and also comes from the ROV Web Adapter in Con_gui",
           "type": "boolean"
         },
+        "spareMotor1": {
+          "$ref": "#/definitions/MotorDiagnostics",
+          "description": "Provides diagnostics for spare motors on the Rov. These spare motors can be used to extend the capabilities of the ROV by attaching various power tools to them. These tools can include CaviBlasters, cutters and etc.\n\n### Example Payloads #### UPDATE Requests\n\n- Resting spare motor 1 diagnostics sample {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/spareMotors/spareMotor1/pivotSpareMotorDiagnosticsRestingSample.json}\n\n- Arbitrary Spare Motor 1 Diagnostics sample {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/spareMotors/spareMotor1/pivotSpareMotorDiagnosticsRandomSample.json}"
+        },
         "tiltPlatform": {
           "$ref": "#/definitions/TiltPlatform",
           "description": "Grabber\n\n### Example Payloads #### GET Requests\n\n- Resting pivot grabber arm {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/pivotTiltPlatformRestingSample.json}\n\n- Resting pivot grabber arm diagnostic {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/motorDiagnostics/tilt/pivotTiltPlatformDiagnosticsRestingSample.json}\n\n- Tilt up {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/pivotTiltPlatformUpSample.json}\n\n- Tilt up pivot grabber arm diagnostic {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/motorDiagnostics/tilt/pivotTiltPlatformUpDiagnosticsSample.json}\n\n- Tilt down {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/pivotTiltPlatformDownSample.json}\n\n- Tilt down pivot grabber arm diagnostic {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/motorDiagnostics/tilt/pivotTiltPlatformDownDiagnosticsSample.json}\n\n- Random pivot grabber arm {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/pivotTiltPlatformRandomSample.json}\n\n- Random pivot grabber arm diagnostic {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/motorDiagnostics/tilt/pivotTiltPlatformDiagnosticsRandomSample.json}"
@@ -1379,6 +1443,10 @@
           "$ref": "#/definitions/UsageTime",
           "description": "Vehicle Usage Time\n\n### Example Payloads #### GET Requests\n\n- Total and current usage times {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/usageTime/pivotUsageTimeSample.json}\n\n- Arbitrary {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/usageTime/pivotUsageTimeRandomSample.json}"
         },
+        "velocity": {
+          "$ref": "#/definitions/Velocity",
+          "description": "Velocity and speed components for the ROV\n\n### Example payloads\n#### UPDATE Requests\n\n- Arbitrary velocity samples\n- Revolution\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/velocity/revolutionVelocityRandomSample.json}\n- Pivot\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/velocity/pivotVelocityRandomSample.json}"
+        },
         "version": {
           "$ref": "#/definitions/DeviceVersion",
           "description": "Pivot Version\n\n### Example Payloads #### GET Requests\n\n- Version 1 {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/version/pivotVersion1Sample.json}\n\n- Version 2 {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/version/pivotVersion2Sample.json}\n\n- Version 3 {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/version/pivotVersion3Sample.json}\n\n- Arbitrary {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/version/pivotVersionRandomSample.json}"
@@ -1401,6 +1469,19 @@
       ],
       "type": "object"
     },
+    "Position": {
+      "additionalProperties": false,
+      "description": "contains positional data for the ROV",
+      "properties": {
+        "global": {
+          "$ref": "#/definitions/GlobalPosition"
+        },
+        "local": {
+          "$ref": "#/definitions/LocalPosition"
+        }
+      },
+      "type": "object"
+    },
     "PoweredReel": {
       "additionalProperties": false,
       "description": "{@link  IPoweredReel 📖 See extended definition } \n\nPowered Reel",
@@ -1582,11 +1663,11 @@
       "description": "Revolution vehicle type.",
       "properties": {
         "altitude": {
-          "description": "Rov altitude\n\nMeasured in meters to show relative distance to floor.\n\n### Example Payloads #### GET Requests\n\n- Current altitude\n\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/altitude/revolutionAltitudeRandomSample.json}",
+          "description": "Rov altitude\n\nMeasured in meters to show relative distance to floor.\n\n### Example Payloads #### GET Requests\n\n- Random altitude {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeRandomSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/altitude/revolutionAltitudeValidRandomSample.json}",
           "type": "number"
         },
         "altitudeValid": {
-          "description": "Rov altitude valid\n\nAltitude validity flag\n\n### Example Payloads #### UPDATE Requests\n\n- Invalid altitude (bad data) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/altitude/revolutionAltitudeInvalidSample.json}\n\n- Valid altitude (good data) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/altitude/revolutionAltitudeValidSample.json}",
+          "description": "Rov altitude valid\n\nAltitude validity flag\n\n### Example Payloads #### UPDATE Requests\n\n- Invalid altitude (bad data) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeInvalidSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/altitude/revolutionAltitudeInvalidSample.json}\n\n- Valid altitude (good data) {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeValidSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/altitude/revolutionAltitudeValidSample.json}\n\n- Random altitude validity {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/altitude/pivotAltitudeValidRandomSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/altitude/revolutionAltitudeValidRandomSample.json}",
           "type": "boolean"
         },
         "auxLight": {
@@ -1594,7 +1675,7 @@
           "description": "Aux Light\n\nControls the auxiliary light attached to the Revolution."
         },
         "bodyLeak": {
-          "description": "Body Leak Fault\n\n### Example Payloads #### UPDATE Requests\n\n- Arbitrary\n\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/bodyLeak/revolutionBodyLeakRandomSample.json}\n\n- Has no body leak fault\n\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/bodyLeak/revolutionHasNoBodyLeakSample.json}\n\n- Has body leak fault\n\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/bodyLeak/revolutionHasBodyLeakSample.json}",
+          "description": "Body Leak Fault\n\n### Example Payloads #### UPDATE Requests\n\n- Arbitrary {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/bodyLeak/revolutionBodyLeakRandomSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/bodyLeak/pivotBodyLeakRandomSample.json}\n\n- Has no body leak fault {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/bodyLeak/revolutionHasNoBodyLeakSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/bodyLeak/pivotHasNoBodyLeakSample.json}\n\n- Has body leak fault {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/bodyLeak/revolutionHasBodyLeakSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/bodyLeak/pivotHasBodyLeakSample.json}",
           "type": "boolean"
         },
         "cameraHead": {
@@ -1618,7 +1699,7 @@
         },
         "drive": {
           "$ref": "#/definitions/RovDrive",
-          "description": "Rov Drive object\n\nCommands thrust actions for the ROV and sets drive modes\n\nSee  {@link  RovDrive }  for more details.\n\n### Example Payloads #### SET Requests\n- Random drive request {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/drive/revolutionDriveRandomSample.json}"
+          "description": "Rov Drive object\n\nCommands thrust actions for the ROV and sets drive modes\n\nSee  {@link  RovDrive }  for more details.\n\n### Example Payloads #### SET Requests\n\n- Random drive request {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/drive/pivotDriveRandomSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/drive/revolutionDriveRandomSample.json}"
         },
         "frontLeftMotorDiagnostics": {
           "$ref": "#/definitions/MotorDiagnostics",
@@ -1638,8 +1719,12 @@
           "minimum": 0,
           "type": "number"
         },
+        "inWater": {
+          "description": "Rov in water status",
+          "type": "boolean"
+        },
         "ip": {
-          "description": "IP\n\n### Example Payloads #### SET Requests\n\n- Arbitrary value\n\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/ip/revolutionRandomIpSample.json}",
+          "description": "IP Address ### Example Payloads #### SET Requests\n\n- Arbitrary {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/ip/revolutionRandomIpSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/ip/pivotIpRandomSample.json}",
           "type": "string"
         },
         "leftBattery": {
@@ -1656,6 +1741,10 @@
           "minimum": -180,
           "type": "number"
         },
+        "position": {
+          "$ref": "#/definitions/Position",
+          "description": "Contains positional data about the ROV.\n\n### Example payloads\n#### UPDATE Requests\n\n- Invalid position sample\n- Revolution\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionPositionInvalidSample.json}\n- Pivot\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotPositionInvalidSample.json}\n\n- Arbitrary position sample\n- Revolution\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionPositionRandomSample.json}\n- Pivot\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotPositionRandomSample.json}\n\n#### UPDATE Requests\n\n- Arbitrary Local position only\n- Revolution\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionLocalPositionSample.json}\n- Pivot\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotLocalPositionRandomSample.json}\n\n- Arbitrary Global position only\n- Revolution\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionGlobalPositionSample.json}\n- Pivot\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotGlobalPositionRandomSample.json}"
+        },
         "rearLeftMotorDiagnostics": {
           "$ref": "#/definitions/MotorDiagnostics",
           "description": "Rear Left Motor Diagnostics"
@@ -1675,20 +1764,32 @@
           "type": "number"
         },
         "sensorPodLeak": {
-          "description": "Sensor Pod Leak Fault\n\n### Example Payloads #### UPDATE Requests\n\n- Arbitrary\n\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/sensorPodLeak/revolutionSensorPodLeakRandomSample.json}\n\n- Has no sensor pod leak fault\n\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/sensorPodLeak/revolutionHasNoSensorPodLeakSample.json}\n\n- has sensor pod leak fault\n\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/sensorPodLeak/revolutionHasSensorPodLeakSample.json}",
+          "description": "Sensor Pod Leak Fault\n\nCommon across all ROV and also comes from the ROV Web Adapter in Con_gui",
           "type": "boolean"
         },
+        "spareMotor1": {
+          "$ref": "#/definitions/MotorDiagnostics",
+          "description": "Provides diagnostics for spare motor 1 on the Rov. This spare motor can be used to extend the capabilities of the ROV by attaching a power tool to it.\n\n### Example Payloads #### UPDATE Requests\n\n- Resting spare motor 1 diagnostics sample {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/spareMotors/spareMotor1/revolutionSpareMotor1DiagnosticsRestingSample.json}\n\n- Arbitrary Spare Motor 1 Diagnostics sample {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/spareMotors/spareMotor1/revolutionSpareMotor1DiagnosticsRandomSample.json}"
+        },
+        "spareMotor2": {
+          "$ref": "#/definitions/MotorDiagnostics",
+          "description": "Provides diagnostics for spare motor 2 on the Rov. This spare motor can be used to extend the capabilities of the ROV by attaching a power tool to it.\n\n### Example Payloads #### UPDATE Requests\n\n- Resting spare motor 2 diagnostics sample {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/spareMotors/spareMotor2/revolutionSpareMotor2DiagnosticsRestingSample.json}\n\n- Arbitrary Spare Motor 2 Diagnostics sample {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/spareMotors/spareMotor2/revolutionSpareMotor2DiagnosticsRandomSample.json}"
+        },
         "turns": {
           "description": "Turns\n\nCount the number of turns the rov has completed",
           "type": "number"
         },
         "usageTime": {
           "$ref": "#/definitions/UsageTime",
-          "description": "Vehicle Usage Time\n\n### Example payloads #### UPDATE Requests\n\n- Arbitrary total seconds\n\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/usageTime/revolutionRandomTotalSecondsUsageSample.json}\n\n- Arbitrary current seconds\n\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/usageTime/revolutionRandomCurrentSecondsUsageSample.json}"
+          "description": "Vehicle Usage Time\n\n### Example Payloads #### GET Requests\n\n- Total and current usage times {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/usageTime/pivotUsageTimeSample.json}\n\n- Arbitrary {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/usageTime/pivotUsageTimeRandomSample.json} {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/usageTime/revolutionUsageTimeRandomSample.json}"
+        },
+        "velocity": {
+          "$ref": "#/definitions/Velocity",
+          "description": "Velocity and speed components for the ROV\n\n### Example payloads\n#### UPDATE Requests\n\n- Arbitrary velocity samples\n- Revolution\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/velocity/revolutionVelocityRandomSample.json}\n- Pivot\n{@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/velocity/pivotVelocityRandomSample.json}"
         },
         "version": {
           "$ref": "#/definitions/DeviceVersion",
-          "description": "Revolution Version"
+          "description": "ROV Version"
         },
         "verticalLeftMotorDiagnostics": {
           "$ref": "#/definitions/MotorDiagnostics",
@@ -2350,6 +2451,30 @@
       },
       "type": "object"
     },
+    "Velocity": {
+      "additionalProperties": false,
+      "description": "contains velocity components and speed of the ROV.",
+      "properties": {
+        "downward": {
+          "type": "number"
+        },
+        "forward": {
+          "type": "number"
+        },
+        "rightward": {
+          "type": "number"
+        },
+        "speed": {
+          "description": "Scalar Magnitude of velocity components (forward, rightward and downward velocity)",
+          "minimum": 0,
+          "type": "number"
+        },
+        "valid": {
+          "type": "boolean"
+        }
+      },
+      "type": "object"
+    },
     "VersionNote": {
       "additionalProperties": false,
       "description": "VersionNote\n\nDescribes changes made in a software update, an array of improvements and bug fixes.",

package/dist/types/devices/vehicles/a150/index.d.ts

@@ -114,6 +114,14 @@ export type A150 = {
      * - No Steer
      * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/a150/drive/a150DriveNoSteerSample.json}
      *
+     * - Motors Disabled
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/a150/drive/a150MotorsDisabledSample.json}
+     *
+     * - Motors Enabled
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/a150/drive/a150MotorsEnabledSample.json}
+     *
+     * - Active Freewheel Calibration
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/a150/drive/a150AFWCalibrationSample.json}
      */
     drive?: CrawlerDrive;
     /** Left Motor Diagnostics

package/dist/types/devices/vehicles/a200/index.d.ts

@@ -114,6 +114,14 @@ export type A200 = {
      * - No Steer
      * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/a200/drive/a200DriveNoSteerSample.json}
      *
+     * - Motors Disabled
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/a200/drive/a200MotorsDisabledSample.json}
+     *
+     * - Motors Enabled
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/a200/drive/a200MotorsEnabledSample.json}
+     *
+     * - Active Freewheel Calibration
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/a200/drive/a200AFWCalibrationSample.json}
      */
     drive?: CrawlerDrive;
     /** Left Motor Diagnostics

package/dist/types/devices/vehicles/crawlerDrive/index.d.ts

@@ -1,3 +1,4 @@
+import { Calibratable } from "../../core";
 /**
  * Drive Modes
  */
@@ -38,4 +39,10 @@ export type CrawlerDrive = {
      * Drive mode
      */
     driveMode?: CrawlerDriveMode;
-};
+    /**
+     * Motors Disabled
+     *
+     * When enabled, prevents any motor commands from being accepted by firmware
+     */
+    motorsDisabled?: boolean;
+} & Calibratable;

package/dist/types/devices/vehicles/index.d.ts

@@ -20,5 +20,6 @@ export * from "./a200";
 export * from "./pivot";
 export * from "./revolution";
 export * from "./core";
+export * from "./navigation";
 export * from "./crawlerDrive";
 export * from "./rovDrive";

package/dist/types/devices/vehicles/index.js

@@ -19,5 +19,6 @@ __exportStar(require("./a200"), exports);
 __exportStar(require("./pivot"), exports);
 __exportStar(require("./revolution"), exports);
 __exportStar(require("./core"), exports);
+__exportStar(require("./navigation"), exports);
 __exportStar(require("./crawlerDrive"), exports);
 __exportStar(require("./rovDrive"), exports);

package/dist/types/devices/vehicles/navigation/index.d.ts

@@ -0,0 +1,142 @@
+/**
+ * {@link INavigation | 📖 See extended definition}
+ * Navigation type
+ *
+ * @description Navigational data for the ROV.
+ *
+ * @category Devices/Vehicles/Navigation
+ */
+export type Navigation = {
+    /**
+     * ROV Position
+     *
+     * @description Contains positional data about the ROV.
+     *
+     * ### Example payloads
+     * #### UPDATE Requests
+     *
+     * - Invalid position sample
+     *  - Revolution
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionPositionInvalidSample.json}
+     *  - Pivot
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotPositionInvalidSample.json}
+     *
+     * - Arbitrary position sample
+     *  - Revolution
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionPositionRandomSample.json}
+     *  - Pivot
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotPositionRandomSample.json}
+     *
+     * #### UPDATE Requests
+     *
+     * - Arbitrary Local position only
+     *  - Revolution
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionLocalPositionSample.json}
+     *  - Pivot
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotLocalPositionRandomSample.json}
+     *
+     * - Arbitrary Global position only
+     *  - Revolution
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/position/revolutionGlobalPositionSample.json}
+     *  - Pivot
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/position/pivotGlobalPositionRandomSample.json}
+     */
+    position?: Position;
+    /**
+     * Rov Velocity
+     *
+     * @description Velocity and speed components for the ROV
+     *
+     * ### Example payloads
+     * #### UPDATE Requests
+     *
+     * - Arbitrary velocity samples
+     *  - Revolution
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/revolution/velocity/revolutionVelocityRandomSample.json}
+     *  - Pivot
+     * {@codeblock ~~/dist/samples/json/requests/devices/vehicles/pivot/velocity/pivotVelocityRandomSample.json}
+     *
+     */
+    velocity?: Velocity;
+};
+/**
+ * Position uncertainty limit.
+ *
+ * @description The upper bound for valid position uncertainty.
+ * Note that the uncertainty value can be arbitrarily large; therefore, a limit is set to ignore invalid positions.
+ */
+export declare const POSITION_UNCERTAINTY_LIMIT = 10000;
+/**
+ * {@link IPosition| 📖 See extended definition}
+ * Rov Position
+ *
+ * @description contains positional data for the ROV
+ */
+export type Position = {
+    global?: GlobalPosition;
+    local?: LocalPosition;
+};
+/**
+ * {@link IGlobalPosition| 📖 See extended definition}
+ * Rov Global Position
+ *
+ * @description contains positional data for the ROV in the Global reference frame
+ */
+export type GlobalPosition = {
+    /**
+     * Latitude (in degrees decimal)
+     *
+     * @minimum -90
+     * @maximum 90
+     */
+    latitude?: number;
+    /**
+     * Longitude (in degrees decimal)
+     *
+     * @minimum -180
+     * @maximum 180
+     */
+    longitude?: number;
+    /**
+     * Uncertainty radius (in meters)
+     *
+     * @minimum 0
+     */
+    uncertainty?: number;
+};
+/**
+ * {@link ILocalPosition| 📖 See extended definition}
+ * Rov Local Position
+ *
+ * @description contains positional data for the ROV in the Local reference frame
+ */
+export type LocalPosition = {
+    /** Northing (in meters) */
+    northing?: number;
+    /** Easting (in meters) */
+    easting?: number;
+    /**
+     * Uncertainty radius (in meters)
+     *
+     * @minimum 0
+     */
+    uncertainty?: number;
+};
+/**
+ * {@link IVelocity| 📖 See extended definition}
+ * ROV velocity
+ *
+ * @description contains velocity components and speed of the ROV.
+ */
+export type Velocity = {
+    valid?: boolean;
+    forward?: number;
+    rightward?: number;
+    downward?: number;
+    /**
+     * Scalar Magnitude of velocity components (forward, rightward and downward velocity)
+     *
+     * @minimum 0
+     */
+    speed?: number;
+};

package/dist/types/devices/vehicles/navigation/index.js

@@ -0,0 +1,10 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.POSITION_UNCERTAINTY_LIMIT = void 0;
+/**
+ * Position uncertainty limit.
+ *
+ * @description The upper bound for valid position uncertainty.
+ * Note that the uncertainty value can be arbitrarily large; therefore, a limit is set to ignore invalid positions.
+ */
+exports.POSITION_UNCERTAINTY_LIMIT = 10000;