Auto aim target update messages will contain information on whether a valid target exists and the target's position, velocity, and acceleration at a certain point in time as specified by the timestamp.

Position, Velocity, and Acceleration values are in reference to the odometry/world frame.

• Target Position: Will be stored as a Position object with a x, y, and z coordinate.
• Target Velocity: Will be stored as a Vector object with a x, y, and z coordinate.
• Target Acceleration: Will be stored as a Vector object with a x, y, and z coordinate.
• Valid Target Flag: Will be stored as a boolean: True if a valid target is detected, False otherwise
• Time: Will be stored as a Timestamp representing the MCB time in microseconds at which this target information was recorded.
• Fire Rate: Will be stored as a FireRate enumeration object with a value from 0 to 3 (inclusive).

Auto Aim Target Update messages are stored in byte format where offset is from the left and the data is stored in little endian format.

Offset	Data	Size	Datatype
0	Position (x)	4 bytes	float
4	Position (y)	4 bytes	float
8	Position (z)	4 bytes	float
12	Velocity (x)	4 bytes	float
16	Velocity (y)	4 bytes	float
20	Velocity (z)	4 bytes	float
24	Acceleration (x)	4 bytes	float
28	Acceleration (y)	4 bytes	float
32	Acceleration (z)	4 bytes	float
36	Valid Target Flag (has_target)	1 byte	boolean
37	Timestamp (time_microsecs)	4 bytes	int
38	Fire Rate (value)	1 byte	unsigned char

Odometry messages will contain information on the chassis position and pitch/yaw/roll and the pitch/yaw of each turret at a certain point in time as specified by the timestamp.

• Time: Will be stored as a MCB Timestamp representing the time in microseconds at which this odometry information was recorded.
• Chassis position: Will be stored as a Position class with a x, y, and z coordinate.
• Chassis pitch/yaw/roll: Stored as floats representing the orientation of the chassis (independently from the turrets) in radians.
• Number of turrets: Indicates the number of turret pitch/yaw pairs that are in the message.

There can be an arbitrary number of pitch/yaw pairs:

• Turret Pitch: Will be stored as a float representing the angle from the plane parallel to the ground.
• Turret Yaw: Will be stored as a float between 0 and 360 representing the counterclockwise rotation angle from a pre-established origin.

Odometry messages can be stored in byte format where offset is from the left and the data is stored in little endian format.

Offset	Data	Size	Datatype
0	Timestamp (time_microsecs)	4 bytes	int
4	Position (x)	4 bytes	float
8	Position (y)	4 bytes	float
12	Position (z)	4 bytes	float
16	Chassis Pitch	4 bytes	float
20	Chassis Yaw	4 bytes	float
24	Chassis Roll	4 bytes	float
28	Number of turrets	1 bytes	int
29	Turret 1 Time	4 bytes	int
33	Turret 1 Pitch	4 bytes	float
37	Turret 1 Yaw	4 bytes	float
41	Turret 2 Time	4 bytes	int
45	Turret 2 Pitch	4 bytes	float
49	Turret 2 Yaw	4 bytes	float
...	(continued turret pitch/yaw pairs)		float

Sent at 1Hz from MCB to Jetson.

Offset	Data	Size	Datatype	Notes
0	Competition Type and Stage	1 byte	Two 4-bit integers: 0-3 bit: Competition type - 1 = RoboMaster Competitions - 2 = RoboMaster University Technical Challenge - 3 = ICRA RoboMaster University AI Challenge - 4 = RoboMaster University League 3V3 Confrontation - 5 = RoboMaster University League Standard Confrontation 4-7 bit: Current stage - 0 = Pre-competition stage - 1 = Setup period - 2 = Initialization stage - 3 = 5-second countdown - 4 = In combat - 5 = calculating competition results
1	Remaining time in current round (seconds)	2 bytes	int
3	Unix time of competition status update	8 bytes	int
11	Main controller power supply condition	1 byte	3 bits: (0 = no 24V output, 1 = 24V output) - 0 bit: output from gimbal port - 1 bit: output from chassis port - 2 bit: output from shooter port	Data is actually updated at 10Hz from the referee system, but we only transmit from MCB to Jetson at 1Hz. Example of byte format: if data is True, False, True, byte content should be 00000101. (padding on left, fill bits from least significant bit first)

Sent when the competition ends.

Offset	Data	Size	Datatype
0	Competition result	1 byte	int - 0 = Draw - 1 = Red Team victory - 2 = Blue Team victory

Sent when our team receives a warning from the referee system.

Offset	Data	Size	Datatype
0	Warning level	1 byte	int - 1 = Yellow Card - 2 = Red Card - 3 = Forfeiture
1	Foul robot ID	1 byte	int - When receiving a punitive forfeiture, robot ID = 0. - When receiving Yellow Card or Red Card, robot ID is the foul robot ID.

MCB receives this data at 10Hz from referee, but MCB only sends a message to Jetson when there is a change detected in the value.

Offset	Data	Size	Datatype
0	Current robot ID	1 byte	int - 1 = Red Team hero robot - 2 = Red Team engineer robot - 3/4/5 = Red Team standard robot - 6 = Red Team aerial robot - 7 = Red Team sentry robot - 8 = Red Team dart robot - 9 = Red Team radar station - 101 = Blue Team hero robot - 102 = Blue Team engineer robot - 103/104/105 = Blue Team standard robot - 106 = Blue Team aerial robot - 107 = Blue Team sentry robot - 108 = Blue Team dart robot - 109 = Blue Team radar station

Select new target messages represents a request from the MCB for a new target selection to be done. This message will come with a request id.

• request_id: a unique ID, aside from eventual wrap-around, representing this selection command

4-byte unsigned integer.

Sent when the robot needs to be shutdown.

Sent when the robot needs to reboot.