KlvEncoder C++ library
v1.1.0
Table of contents
- Overview
- Versions
- KlvEncoder class description
- Data structures
- MISBTag enumeration
- ST0601_34_IcingDetected enumeration
- ST0601_63_SensorFieldOfViewName enumeration
- ST0601_77_OperationalMode enumeration
- ST0601_81_ImageHorizonPixelPackData structure
- ST0601_115_ControlCommand structure
- ST0601_122_CountryCodesData structure
- ST0601_125_PlatformStatus enumeration
- ST0601_126_SensorControlMode enumeration
- ST0601_127_SensorFrameRatePackData structure
- ST0601_128_WavelengthRecord structure
- ST0601_130_AirbaseLocation structure
- ST0601_138_PayloadRecord structure
- ST0601_138_PayloadType enumeration
- ST0601_140_WeaponsRecord structure
- ST0601_140_WeaponStatus enumeration
- ST0601_141_WaypointRecord structure
- ST0601_142_ViewDomainData structure
- ST0601_143_MetadataSubstreamIDPack structure
- Example
- KLV data verification
- Build and connect to your project
Overview
The KlvEncoder C++ library provides methods to encode KLV format metadata. KLV (Key-Length-Value) is a video metadata encoding format which uses a type-length-value structure (the standard SMPTE 336M-2007 defines the KLV encoding format). Metadata is encoded into Key-Length-Value blocks that contain a data ID (a standard key or a tag number), the data length, and the data itself. Bytes are encoded in big-endian format. The KlvEncoder library prepares a buffer with KLV metadata. The library is cross-platform and compatible with Windows and Linux OS. The main file KlvEncoder.h includes the declaration of the KlvEncoder class which provides methods for encoding video metadata into KLV format. The library requires C++17 standard. The library doesn’t have any third-party dependencies. The library implements the ST0601.19 standard (Unmanned Air System (UAS) Datalink Local Set (LS) for UAS platforms) (see MISBTag enumeration for supported tags). Note: The library encodes linear KLV buffer structure with Universal Key and BER length.
Versions
Table 1 - Library versions.
| Version | Release date | What’s new |
|---|---|---|
| 1.0.0 | 18.02.2026 | Initial release |
| 1.1.0 | 02.03.2026 | - All tags of ST0601 were implemented. |
KlvEncoder class description
KlvEncoder class declaration
The KlvEncoder class is declared in KlvEncoder.h file. Class declaration:
namespace cr
{
namespace metadata
{
class KlvEncoder
{
public:
/// Get library version.
static std::string getVersion();
/// Add parameter to buffer.
bool addParam(MISBTag key, const void* value, size_t length = 0);
/// Reset buffer.
void resetBuffer();
/// Get buffer with KLV metadata.
std::vector<uint8_t> getBuffer();
};
}
}
getVersion method
The getVersion() static method returns a string of the current class version. Method declaration:
static std::string getVersion();
Returns: the library version string in format Major.Minor.Patch. The method can be used without KlvEncoder class instance. Example:
cout << "KlvEncoder class version: " << KlvEncoder::getVersion() << endl;
Console output:
KlvEncoder class version: 1.1.0
addParam method
The addParam(…) method adds a parameter value to the buffer. The method fills the buffer which can be retrieved by the getBuffer() method. Method declaration:
bool addParam(MISBTag key, const void* value, size_t length = 0);
| Parameter | Value |
|---|---|
| key | Name of the standard and tag number. |
| value | Pointer to parameter value, which should be encoded. |
| length | Length of parameter value in bytes. For fixed-size parameters (for example, float or integer) length is not required (see MISBTag enumeration). For variable-size parameters (for example, string) length should be specified. |
Returns: TRUE if the value is within the valid range and the standard tag is supported (see MISBTag enumeration for supported tags), otherwise FALSE.
resetBuffer method
The resetBuffer() method resets the class object buffer. It should be called each time you need to encode a new KLV package. Method declaration:
void resetBuffer();
getBuffer method
The getBuffer() method returns the buffer with encoded KLV data. Method declaration:
std::vector<uint8_t> getBuffer();
Returns: vector of encoded data in KLV format.
Data structures
MISBTag enumeration
MISBTag enum includes standard tags according to the ST0601.19 standard. It represents data that can be encoded to KLV format using the KlvEncoder library. Each tag has a specific parameter and conversion formulas to convert input values to KLV format. The MISBTag enum is declared in KlvEncoder.h file. Enum declaration:
enum class MISBTag
{
// Precision Time Stamp. The value is microseconds
// since Unix epoch (January 1, 1970).
ST0601_2_PrecisionTimeStamp = 1,
// Mission ID. Size range: 1 to 127 symbols.
ST0601_3_MissionId,
// Platform Tail Number. Size range: 1 to 127 symbols.
ST0601_4_PlatformTailNumber,
// Platform Heading Angle. Range: 0 to 360 degrees.
ST0601_5_PlatformHeadingAngle,
// Platform Pitch Angle. Range: -20 to +20 degrees.
ST0601_6_PlatformPitchAngle,
// Platform Roll Angle. Range: -50 to +50 degrees.
ST0601_7_PlatformRollAngle,
// True airspeed of platform. Range: 0 to 255 meters per second.
ST0601_8_PlatformTrueAirspeed,
// Indicated airspeed of platform. Range: 0 to 255 meters per second.
ST0601_9_PlatformIndicatedAirspeed,
// Model name of the platform. Size range: 1 to 127 symbols.
ST0601_10_PlatformDesignation,
// Name of currently active sensor. Size range: 1 to 127 symbols.
ST0601_11_ImageSourceSensor,
// Name of the image coordinate system used. Size range: 1 to 127 symbols.
ST0601_12_ImageCoordinateSystem,
// Sensor latitude. Range: -90 to 90 degrees.
ST0601_13_SensorLatitude,
// Sensor longitude. Range: -180 to 180 degrees.
ST0601_14_SensorLongitude,
// Altitude of sensor as measured from Mean Sea Level.
// Range: -900 to 19000 meters.
ST0601_15_SensorTrueAltitude,
// Sensor Horizontal Field of View. Range: 0 to 180 degrees.
ST0601_16_SensorHorizontalFieldOfView,
// Sensor Vertical Field of View. Range: 0 to 180 degrees.
ST0601_17_SensorVerticalFieldOfView,
// Sensor Relative Azimuth Angle. Relative rotation angle of sensor to
// platform longitudinal axis. Range: 0 to 360 degrees.
ST0601_18_SensorRelativeAzimuthAngle,
// Sensor Relative Elevation Angle. Relative elevation angle of sensor to
// platform longitudinal-transverse plane. Range: -180 to +180 degrees.
ST0601_19_SensorRelativeElevationAngle,
// Sensor Relative Roll Angle. Relative roll angle of sensor to aircraft
// platform. Range: 0 to 360 degrees.
ST0601_20_SensorRelativeRollAngle,
// Slant Range. Slant range in meters. Range: 0 to 5000000 meters.
ST0601_21_SlantRange,
// Target width within sensor field of view. Range: 0 to 10000 meters.
ST0601_22_TargetWidth,
// Terrain latitude of frame center. Range: -90 to 90 degrees.
ST0601_23_FrameCenterLatitude,
// Terrain longitude of frame center. Range: -180 to 180 degrees.
ST0601_24_FrameCenterLongitude,
// Terrain elevation at frame center relative to Mean Sea Level.
// Range: -900 to 19000 meters.
ST0601_25_FrameCenterElevation,
// Frame latitude offset for upper left corner.
// Range: -0.075 to 0.075 degrees.
ST0601_26_OffsetCornerLatitudePoint1,
// Frame longitude offset for upper left corner.
// Range: -0.075 to 0.075 degrees.
ST0601_27_OffsetCornerLongitudePoint1,
// Frame latitude offset for upper right corner.
// Range: -0.075 to 0.075 degrees.
ST0601_28_OffsetCornerLatitudePoint2,
// Frame longitude offset for upper right corner.
// Range: -0.075 to 0.075 degrees.
ST0601_29_OffsetCornerLongitudePoint2,
// Frame latitude offset for lower right corner.
// Range: -0.075 to 0.075 degrees.
ST0601_30_OffsetCornerLatitudePoint3,
// Frame longitude offset for lower right corner.
// Range: -0.075 to 0.075 degrees.
ST0601_31_OffsetCornerLongitudePoint3,
// Frame latitude offset for lower left corner.
// Range: -0.075 to 0.075 degrees.
ST0601_32_OffsetCornerLatitudePoint4,
// Frame longitude offset for lower left corner.
// Range: -0.075 to 0.075 degrees.
ST0601_33_OffsetCornerLongitudePoint4,
// Flag for icing detected at aircraft location.
// Parameters: value - ST0601_34_IcingDetected enumeration,
// length - ignored (not used).
ST0601_34_IcingDetected,
// Wind direction at aircraft location. Range: 0 to 360 degrees.
ST0601_35_WindDirection,
// Wind speed at aircraft location. Range: 0 to 100 meters per second.
ST0601_36_WindSpeed,
// Static pressure at aircraft location. Range: 0 to 5000 millibars.
ST0601_37_StaticPressure,
// Density altitude at aircraft location. Range: -900 to 19000 meters.
ST0601_38_DensityAltitude,
// Temperature outside of aircraft. Range: -128 to +127 degrees Celsius.
ST0601_39_OutsideAirTemperature,
// Calculated target latitude. Range: -90 to 90 degrees.
ST0601_40_TargetLocationLatitude,
// Calculated target longitude. Range: -180 to 180 degrees.
ST0601_41_TargetLocationLongitude,
// Calculated target elevation. Range: -900 to 19000 meters.
ST0601_42_TargetLocationElevation,
// Tracking gate width (x value) of tracked target within field of view.
// Range: 0 to 510 pixels.
ST0601_43_TargetTrackGateWidth,
// Tracking gate height (y value) of tracked target within field of view.
// Range: 0 to 510 pixels.
ST0601_44_TargetTrackGateHeight,
// Circular error 90 is the estimated error distance in the horizontal
// direction. Range: 0 to 4095 meters.
ST0601_45_TargetErrorEstimateCE90,
// Linear error 90 is the estimated error distance in the vertical direction.
// Range: 0 to 4095 meters.
ST0601_46_TargetErrorEstimateLE90,
// The Generic Data Flags are miscellaneous boolean (yes/no) aircraft
// and image related data settings which are individual bits in a single
// byte value.
// | Bit | Name | One indicates | Zero indicates |
// | --- | ------------- | -------------- | ----------------- |
// | 0 | Laser range | Laser on | Laser off |
// | 1 | Auto-track | Auto-track on | Auto-track off |
// | 2 | IR polarity | Black hot | White hot |
// | 3 | Icing status | Icing detected | No icing detected |
// | 4 | Slant range | Measured | Calculated |
// | 5 | Image invalid | Image invalid | Image valid |
// | 6 | Reserved | Not used | Not used |
// | 7 | Reserved | Not used | Not used |
// Example: 0000011 = 0x03, laser on and auto-track on
ST0601_47_GenericFlagData,
// MISB ST 0102 local set Security Metadata items. The value is a byte
// buffer containing the encoded local set.
ST0601_48_SecurityLocalSet,
// Differential pressure at aircraft location. Range: 0 to 5000 millibars.
ST0601_49_DifferentialPressure,
// Platform attack angle. Range: -20 to 20 degrees.
ST0601_50_PlatformAngleOfAttack,
// Vertical speed of the aircraft relative to zenith.
// Range: -180 to 180 meters per second.
ST0601_51_PlatformVerticalSpeed,
// Angle between the platform longitudinal axis and the relative wind.
// Range: -20 to 20 degrees.
ST0601_52_PlatformSideslipAngle,
// Local pressure at airfield of known height. Range: 0 to 5000 millibars.
ST0601_53_AirfieldBarometricPressure,
// Elevation of airfield corresponding to Airfield Barometric Pressure.
// Range: -900 to 19000 meters.
ST0601_54_AirfieldElevation,
// Relative humidity at aircraft location. Range: 0 to 100 percent.
ST0601_55_RelativeHumidity,
// Speed projected on the ground of an airborne platform passing overhead.
// Range: 0 to 255 meters per second.
ST0601_56_PlatformGroundspeed,
// Horizontal distance from ground position of aircraft relative to nadir,
// and target of interest. Range: 0 to 5000000 meters.
ST0601_57_GroundRange,
// Remaining fuel on airborne platform. Range: 0 to 10000 kilograms.
ST0601_58_PlatformFuelRemaining,
// Call sign of platform or operating unit. Size range: 1 to 127 symbols.
ST0601_59_PlatformCallSign,
// Current weapons stored on aircraft. Range: 0 to 65535.
ST0601_60_WeaponLoad,
// Indication when a particular weapon is released. Range: 0 to 255.
ST0601_61_WeaponFired,
// A laser's Pulse Repetition Frequency (PRF) code used to mark a target.
// Range: 0 to 65535.
ST0601_62_LaserRPFCode,
// Sensor field of view names.
ST0601_63_SensorFieldOfViewName,
// Aircraft magnetic heading angle. Range: 0 to 360 degrees.
ST0601_64_PlatformMagneticHeading,
// Version number of the UAS Datalink LS document used to generate
// KLV metadata. Range: 0 to 255.
ST0601_65_UASDatalinkLSVersionNumber,
// The tag is deprecated.
ST0601_66_Deprecated,
// Alternate platform latitude. Range: -90 to 90 degrees.
ST0601_67_AlternatePlatformLatitude,
// Alternate platform longitude. Range: -180 to 180 degrees.
ST0601_68_AlternatePlatformLongitude,
// Alternate platform altitude. Range: -900 to 19000 meters.
ST0601_69_AlternatePlatformAltitude,
// Alternate platform name. Size range: 1 to 127 symbols.
ST0601_70_AlternatePlatformName,
// Heading angle of alternate platform connected to UAS.
// Range: 0 to 360 degrees.
ST0601_71_AlternatePlatformHeading,
// Start time of scene, event, mission, etc. The value is microseconds
// since Unix epoch (January 1, 1970).
ST0601_72_EventStartTime,
// MISB ST 0806 Local Set metadata items. The value is a nested KLV Local
// Set structure encoded as a byte buffer.
ST0601_73_RVTLocalSet,
// MISB ST 0903 VMTI Local Set metadata items. The value is a nested KLV
// Local Set structure encoded as a byte buffer.
ST0601_74_VMTILocalSet,
// Sensor ellipsoid height as measured from WGS84 ellipsoid.
// Range: -900 to 19000 meters.
ST0601_75_SensorEllipsoidHeight,
// Alternate platform ellipsoid height as measured from WGS84 ellipsoid.
// Range: -900 to 19000 meters.
ST0601_76_AlternatePlatformEllipsoidHeight,
// Indicates the mode of operations of the event portrayed
// in Motion Imagery.
ST0601_77_OperationalMode,
// Frame center ellipsoid height as measured from WGS84 ellipsoid.
// Range: -900 to 19000 meters.
ST0601_78_FrameCenterHeightAboveEllipsoid,
// Sensor north velocity. Range: -327 to 327 meters per second.
ST0601_79_SensorNorthVelocity,
// Sensor east velocity. Range: -327 to 327 meters per second.
ST0601_80_SensorEastVelocity,
// Location of earth-sky horizon in the Imagery.
ST0601_81_ImageHorizonPixelPack,
// Frame latitude for upper left corner. Range: -90 to 90 degrees.
ST0601_82_CornerLatitudePoint1Full,
// Frame longitude for upper left corner. Range: -180 to 180 degrees.
ST0601_83_CornerLongitudePoint1Full,
// Frame latitude for upper right corner. Range: -90 to 90 degrees.
ST0601_84_CornerLatitudePoint2Full,
// Frame longitude for upper right corner. Range: -180 to 180 degrees.
ST0601_85_CornerLongitudePoint2Full,
// Frame latitude for lower right corner. Range: -90 to 90 degrees.
ST0601_86_CornerLatitudePoint3Full,
// Frame longitude for lower right corner. Range: -180 to 180 degrees.
ST0601_87_CornerLongitudePoint3Full,
// Frame latitude for lower left corner. Range: -90 to 90 degrees.
ST0601_88_CornerLatitudePoint4Full,
// Frame longitude for lower left corner. Range: -180 to 180 degrees.
ST0601_89_CornerLongitudePoint4Full,
// Aircraft pitch angle. Range: -90 to 90 degrees.
ST0601_90_PlatformPitchAngleFull,
// Aircraft roll angle. Range: -90 to 90 degrees.
ST0601_91_PlatformRollAngleFull,
// Platform attack angle. Range: -90 to 90 degrees.
ST0601_92_PlatformAngleOfAttackFull,
// Angle between the platform longitudinal axis and relative wind.
// Range: -180 to 180 degrees.
ST0601_93_PlatformSideslipAngleFull,
// MISB ST 1204 MIIS Core Identifier binary value.
// The value is a byte buffer.
ST0601_94_MIISCoreIdentifier,
// MISB ST 1206 SAR Motion Imagery Metadata Local Set metadata items.
// The value is a nested KLV Local Set structure encoded as a byte buffer.
ST0601_95_SARMotionImageryLocalSet,
// Target width within sensor field of view.
// Range: 0 to 1500000 meters.
ST0601_96_TargetWidthExtended,
// MISB ST 1002 Range Imaging Local Set metadata items. The value is
// a nested KLV Local Set structure encoded as a byte buffer.
ST0601_97_RangeImageLocalSet,
// MISB ST 1601 Geo-Registration Local Set metadata items. The value is
// a nested KLV Local Set structure encoded as a byte buffer.
ST0601_98_GeoRegistrationLocalSet,
// MISB ST 1602 Composite Imaging Local Set metadata items. The value is
// a nested KLV Local Set structure encoded as a byte buffer.
ST0601_99_CompositeImagingLocalSet,
// MISB ST 1607 Segment Local Set metadata items, used to enable metadata
// sharing. The value is a nested KLV Local Set structure encoded as
// a byte buffer.
ST0601_100_SegmentLocalSet,
// MISB ST 1607 Amend Local Set metadata items, used to provide metadata
// corrections. The value is a nested KLV Local Set structure encoded as
// a byte buffer.
ST0601_101_AmendLocalSet,
// MISB ST 1010 Floating Length Pack metadata item, providing
// Standard Deviation and Cross Correlation (SDCC) metadata. The value is
// a nested KLV Local Set structure encoded as a byte buffer.
ST0601_102_SDCCFLP,
// Density altitude above MSL at aircraft location.
// Range: -900 to 40000 meters.
ST0601_103_DensityAltitudeExtended,
// Sensor ellipsoid height extended as measured from WGS84 ellipsoid.
// Range: -900 to 40000 meters.
ST0601_104_SensorEllipsoidHeightExtended,
// Alternate platform ellipsoid height extended as measured from WGS84 ellipsoid.
// Range: -900 to 40000 meters.
ST0601_105_AlternatePlatformEllipsoidHeightExtended,
// A second designation given to a sortie. Size range: 1 to 127 symbols.
ST0601_106_StreamDesignator,
// Name of the operational base hosting the platform. Size range: 1 to 127 symbols.
ST0601_107_OperationalBase,
// Name of the source, where the Motion Imagery is first broadcast.
// Size range: 1 to 127 symbols.
ST0601_108_BroadcastSource,
// Distance from current position to airframe recovery position.
// Range: 0 to 21000 kilometers.
ST0601_109_RangeToRecoveryLocation,
// Number of seconds aircraft has been airborne.
ST0601_110_TimeAirborne,
// The speed the engine is rotating at.
ST0601_111_PropulsionUnitSpeed,
// Direction the aircraft is moving relative to True North.
// Range: 0 to 360 degrees.
ST0601_112_PlatformCourseAngle,
// Above Ground Level (AGL) height above the ground or water.
// Range: -900 to 40000 meters.
ST0601_113_AltitudeAGL,
// Height above the ground or water as reported by a radar altimeter.
// Range: -900 to 40000 meters.
ST0601_114_RadarAltimeter,
// Record of command from GCS to aircraft.
// Parameters: value - ST0601_115_ControlCommand structure,
// length - ignored (not used).
ST0601_115_ControlCommand,
// Acknowledgement of one or more control commands were received
// by the platform.
// Parameters: value - uint32_t array, length - array size.
ST0601_116_ControlCommandVerificationList,
// The rate the sensor's azimuth angle is changing.
// Range: -1000 to 1000 degrees per second.
ST0601_117_SensorAzimuthRate,
// The rate the sensor's elevation angle is changing.
// Range: -1000 to 1000 degrees per second.
ST0601_118_SensorElevationRate,
// The rate the sensor's roll angle is changing.
// Range: -1000 to 1000 degrees per second.
ST0601_119_SensorRollRate,
// Amount of on-board Motion Imagery storage used as
// a percentage of the total storage. Range: 0 to 100 percent.
ST0601_120_OnboardMiStoragePercentFull,
// List of wavelengths in Motion Imagery.
ST0601_121_ActiveWavelengthList,
// Country codes associated with the platform and operation.
ST0601_122_CountryCodes,
// Count of navigation satellites in view of platform. Range: 0 to 255.
ST0601_123_NumberOfNAVSATsInView,
// Source of the navigation positioning information.
// The value meanings are:
// | Bit | Type | Name | Country |
// | --- | ------ | ----------------------------------- | ------- |
// | 0 | INS | On-board Inertial Navigation System | N/A |
// | 1 | NAVSAT | GPS | USA |
// | 2 | NAVSAT | Galileo | EU |
// | 3 | NAVSAT | QZSS | Japan |
// | 4 | NAVSAT | NAVIC | India |
// | 5 | NAVSAT | GLONASS | Russia |
// | 6 | NAVSAT | BeiDou-1 | China |
// | 7 | NAVSAT | BeiDou-2 | China |
ST0601_124_PositioningMethodSource,
// Enumeration of operational modes of the platform.
ST0601_125_PlatformStatus,
// Enumerated value for the current sensor control operational status.
ST0601_126_SensorControlMode,
// Value used to calculate the frame rate of the Motion Imagery
// at the sensor.
ST0601_127_SensorFrameRatePack,
// List of wavelength bands provided by sensor(s).
ST0601_128_WavelengthList,
// Alpha-numeric identification of a target. Size range: 1 to 32 symbols.
ST0601_129_TargetID,
// Geographic location of the take-off site and recovery site.
// First location is the take-off location (mandatory),
// second location is the recovery location (optional).
ST0601_130_AirbaseLocations,
// Time when aircraft became airborne. The value is microseconds since
// Unix epoch (January 1, 1970).
ST0601_131_TakeOffTime,
// Radio frequency used to transmit the Motion Imagery.
// Range: 1 to 99999 MHz.
ST0601_132_TransmissionFrequency,
// The total capacity of on-board Motion Imagery storage.
// Range: 0 to 4294967295 Gigabytes.
ST0601_133_OnboardMIStoreageCapacity,
// The zoom percentage of the sensor. Range: 0 to 100 percent.
ST0601_134_ZoomPercentage,
// Type of communications used with platform. Size range: 1 to 127 symbols.
ST0601_135_CommunicationsMethod,
// Number of leap seconds since MISP Epoch to use when converting
// Precision Time Stamp (Tag 2) to UTC. Range: 0 to 4294967295 seconds.
ST0601_136_LeapSeconds,
// Post-flight time adjustment to correct
// Precision Time Stamp (Tag 2) as needed.
ST0601_137_CorrectionOffset,
// List of payloads available on the platform.
ST0601_138_PayloadList,
// List of currently active payloads from the payload list (Tag 138).
// The value is a byte with each bit representing an active payload
// according to the payload list.
// | Bit | Payload ID |
// | --- | ---------- |
// | 0 | 0 |
// | 1 | 1 |
// | 2 | 2 |
// | 3 | 3 |
// | 4 | 4 |
// | 5 | Not used |
// | 6 | Not used |
// | 7 | Not used |
ST0601_139_ActivePayloads,
// List of weapons stores and status.
ST0601_140_WeaponsStores,
// List of waypoints and their status.
ST0601_141_WaypointList,
// Specifies the domain of values for Relative Sensor
// Azimuth, Elevation and Roll angles.
ST0601_142_ViewDomain,
// Identifier for Segment or Amend items.
// Parameters: value - ST0601_143_MetadataSubstreamIDPack structure,
// length - ignored (not used).
ST0601_143_MetadataSubstreamIDPack,
};
Table 2 - Supported MISB standards and tags.
| Tag Name | Parameters type | Description |
|---|---|---|
| ST0601_2_PrecisionTimeStamp | value - uint64_t length - not used | Precision Time Stamp. The value is microseconds since Unix epoch (January 1, 1970). |
| ST0601_3_MissionId | value - char* string length - string length | Mission ID. Size range: 1 to 127 symbols. |
| ST0601_4_PlatformTailNumber | value - char* string length - string length | Platform Tail Number. Size range: 1 to 127 symbols. |
| ST0601_5_PlatformHeadingAngle | value - float length - not used | Platform Heading Angle. Range: 0 to 360 degrees. Conversion formula: uint16_t KlvValue = (degrees / 360) * 65535. |
| ST0601_6_PlatformPitchAngle | value - float length - not used | Platform Pitch Angle. Range: -20 to +20 degrees. Conversion formula: int16_t KlvValue = (degrees / 40) * 65534. |
| ST0601_7_PlatformRollAngle | value - float length - not used | Platform Roll Angle. Range: -50 to +50 degrees. Conversion formula: uint16_t KlvValue = (degrees / 100) * 65534. |
| ST0601_8_PlatformTrueAirspeed | value - uint8 length - not used | True airspeed of platform. Range: 0 to 255 meters per second. |
| ST0601_9_PlatformIndicatedAirspeed | value - uint8 length - not used | Indicated airspeed of platform. Range: 0 to 255 meters per second. |
| ST0601_10_PlatformDesignation | value - char* string length - string length | Model name of the platform. Size range: 1 to 127 symbols. |
| ST0601_11_ImageSourceSensor | value - char* string length - string length | Name of currently active sensor. Size range: 1 to 127 symbols. |
| ST0601_12_ImageCoordinateSystem | value - char* string length - string length | Name of the image coordinate system used. Size range: 1 to 127 symbols. |
| ST0601_13_SensorLatitude | value - double length - not used | Sensor latitude. Range: -90 to 90 degrees. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. |
| ST0601_14_SensorLongitude | value - double length - not used | Sensor longitude. Range: -180 to 180 degrees. Conversion formula: int32_t KlvValue = (degrees / 360) * 4294967294. |
| ST0601_15_SensorTrueAltitude | value - float length - not used | Altitude of sensor as measured from Mean Sea Level. Range: -900 to 19000 meters. Conversion formula: uint16_t KlvValue = ((meters + 900) / 19900) * 65535. |
| ST0601_16_SensorHorizontalFieldOfView | value - float length - not used | Sensor Horizontal Field of View. Range: 0 to 180 degrees. Conversion formula: uint16_t KlvValue = (degrees / 180) * 65535. |
| ST0601_17_SensorVerticalFieldOfView | value - float length - not used | Sensor Vertical Field of View. Range: 0 to 180 degrees. Conversion formula: uint16_t KlvValue = (degrees / 180) * 65535. |
| ST0601_18_SensorRelativeAzimuthAngle | value - double length - not used | Sensor Relative Azimuth Angle. Relative rotation angle of sensor to platform longitudinal axis. Range: 0 to 360 degrees. Conversion formula: uint32_t KlvValue = (4294967295 / 360) * degrees. |
| ST0601_19_SensorRelativeElevationAngle | value - double length - not used | Sensor Relative Elevation Angle. Relative elevation angle of sensor to platform longitudinal-transverse plane. Range: -180 to +180 degrees. Conversion formula: uint32_t KlvValue = ((degrees + 180) / 360) * 4294967295. |
| ST0601_20_SensorRelativeRollAngle | value - double length - not used | Sensor Relative Roll Angle. Relative roll angle of sensor to aircraft platform. Range: 0 to 360 degrees. Conversion formula: uint32_t KlvValue = (degrees / 360) * 4294967295. |
| ST0601_21_SlantRange | value - double length - not used | Slant Range. Slant range in meters. Range: 0 to 5000000 meters. Conversion formula: uint32_t KlvValue = (meters / 5000000) * 4294967295. |
| ST0601_22_TargetWidth | value - float length - not used | Target width within sensor field of view. Range: 0 to 10000 meters. Conversion formula: uint16_t KlvValue = (meters / 10000) * 65535. |
| ST0601_23_FrameCenterLatitude | value - double length - not used | Terrain latitude of frame center. Range: -90 to 90 degrees. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_24_FrameCenterLongitude | value - double length - not used | Terrain longitude of frame center. Range: -180 to 180 degrees. Conversion formula: int32_t KlvValue = (degrees / 360) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_25_FrameCenterElevation | value - float length - not used | Terrain elevation at frame center relative to Mean Sea Level. Range: -900 to 19000 meters. Conversion formula: uint16_t KlvValue = ((meters + 900) / 19900) * 65535. |
| ST0601_26_OffsetCornerLatitudePoint1 | value - float length - not used | Frame latitude offset for upper left corner. Range: -0.075 to 0.075 degrees. Conversion formula: int16_t KlvValue = (degrees / 0.15) * 65534. “N/A (Off-Earth)” indicator special value is 0x8000 |
| ST0601_27_OffsetCornerLongitudePoint1 | value - float length - not used | Frame longitude offset for upper left corner. Range: -0.075 to 0.075 degrees. Conversion formula: int16_t KlvValue = (degrees / 0.15) * 65534. “N/A (Off-Earth)” indicator special value is 0x8000 |
| ST0601_28_OffsetCornerLatitudePoint2 | value - float length - not used | Frame latitude offset for upper right corner. Range: -0.075 to 0.075 degrees. Conversion formula: int16_t KlvValue = (degrees / 0.15) * 65534. “N/A (Off-Earth)” indicator special value is 0x8000 |
| ST0601_29_OffsetCornerLongitudePoint2 | value - float length - not used | Frame longitude offset for upper right corner. Range: -0.075 to 0.075 degrees. Conversion formula: int16_t KlvValue = (degrees / 0.15) * 65534. “N/A (Off-Earth)” indicator special value is 0x8000 |
| ST0601_30_OffsetCornerLatitudePoint3 | value - float length - not used | Frame latitude offset for lower right corner. Range: -0.075 to 0.075 degrees. Conversion formula: int16_t KlvValue = (degrees / 0.15) * 65534. “N/A (Off-Earth)” indicator special value is 0x8000 |
| ST0601_31_OffsetCornerLongitudePoint3 | value - float length - not used | Frame longitude offset for lower right corner. Range: -0.075 to 0.075 degrees. Conversion formula: int16_t KlvValue = (degrees / 0.15) * 65534. “N/A (Off-Earth)” indicator special value is 0x8000 |
| ST0601_32_OffsetCornerLatitudePoint4 | value - float length - not used | Frame latitude offset for lower left corner. Range: -0.075 to 0.075 degrees. Conversion formula: int16_t KlvValue = (degrees / 0.15) * 65534. “N/A (Off-Earth)” indicator special value is 0x8000 |
| ST0601_33_OffsetCornerLongitudePoint4 | value - float length - not used | Frame longitude offset for lower left corner. Range: -0.075 to 0.075 degrees. Conversion formula: int16_t KlvValue = (degrees / 0.15) * 65534. “N/A (Off-Earth)” indicator special value is 0x8000 |
| ST0601_34_IcingDetected | value - custom enumeration length - not used | Flag for icing detected at aircraft location. Check Table 6 for the enumeration information. |
| ST0601_35_WindDirection | value - float length - not used | Wind direction at aircraft location. Range: 0 to 360 degrees. Conversion formula: uint16_t KlvValue = (degrees / 360) * 65535. |
| ST0601_36_WindSpeed | value - uint8_t length - not used | Wind speed at aircraft location. Range: 0 to 100 meters per second. Conversion formula: uint8_t KlvValue = (speed / 100) * 255. |
| ST0601_37_StaticPressure | value - float length - not used | Static pressure at aircraft location. Range: 0 to 5000 millibars. Conversion formula: uint16_t KlvValue = (pressure / 5000) * 65535. |
| ST0601_38_DensityAltitude | value - float length - not used | Density altitude at aircraft location. Range: -900 to 19000 meters. Conversion formula: uint16_t KlvValue = ((meters + 900) / 19900) * 65535. |
| ST0601_39_OutsideAirTemperature | value - int8_t length - not used | Temperature outside of aircraft. Range: -128 to +127 degrees Celsius. |
| ST0601_40_TargetLocationLatitude | value - double length - not used | Calculated target latitude. Range: -90 to 90 degrees. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_41_TargetLocationLongitude | value - double length - not used | Calculated target longitude. Range: -180 to 180 degrees. Conversion formula: int32_t KlvValue = (degrees / 360) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_42_TargetLocationElevation | value - float length - not used | Calculated target elevation. Range: -900 to 19000 meters. Conversion formula: uint16_t KlvValue = ((meters + 900) / 19900) * 65535. |
| ST0601_43_TargetTrackGateWidth | value - uint16_t length - not used | Tracking gate width (x value) of tracked target within field of view. Range: 0 to 510 pixels. Conversion formula: uint16_t KlvValue = round(pixels / 2). |
| ST0601_44_TargetTrackGateHeight | value - uint16_t length - not used | Tracking gate height (y value) of tracked target within field of view. Range: 0 to 510 pixels. Conversion formula: uint16_t KlvValue = round(pixels / 2). |
| ST0601_45_TargetErrorEstimateCE90 | value - float length - not used | Circular error 90 is the estimated error distance in the horizontal direction. Range: 0 to 4095 meters. uint16_t KlvValue = (meters / 4095) * 65535. |
| ST0601_46_TargetErrorEstimateLE90 | value - float length - not used | Linear error 90 is the estimated error distance in the vertical direction. Range: 0 to 4095 meters. uint16_t KlvValue = (meters / 4095) * 65535. |
| ST0601_47_GenericFlagData | value - uint8_t length - not used | The Generic Data Flags are miscellaneous boolean (yes/no) aircraft and image related data settings which are individual bits in a single byte value. Check Table 3 for more information. |
| ST0601_48_SecurityLocalSet | value - uint8_t* buffer length - buffer length | MISB ST 0102 local set Security Metadata items. The value is a byte buffer containing the encoded local set. The local set must be encoded according to MISB ST 0102 standard. |
| ST0601_49_DifferentialPressure | value - float length - not used | Differential pressure at aircraft location. Range: 0 to 5000 millibars. Conversion formula: uint16_t KlvValue = (pressure / 5000) * 65535. |
| ST0601_50_PlatformAngleOfAttack | value - float length - not used | Platform attack angle. Range: -20 to 20 degrees. Conversion formula: int16_t KlvValue = (degrees / 40) * 65534. Out of range special value is 0x8000 |
| ST0601_51_PlatformVerticalSpeed | value - float length - not used | Vertical speed of the aircraft relative to zenith. Range: -180 to 180 meters per second. Conversion formula: int16_t KlvValue = (speed / 360) * 65534. Out of range special value is 0x8000 |
| ST0601_52_PlatformSideslipAngle | value - float length - not used | Angle between the platform longitudinal axis and the relative wind. Range: -20 to 20 degrees. Conversion formula: int16_t KlvValue = (degrees / 40) * 65534. Out of range special value is 0x8000 |
| ST0601_53_AirfieldBarometricPressure | value - float length - not used | Local pressure at airfield of known height. Range: 0 to 5000 millibars. Conversion formula: uint16_t KlvValue = (pressure / 5000) * 65535. |
| ST0601_54_AirfieldElevation | value - float length - not used | Elevation of airfield corresponding to Airfield Barometric Pressure. Range: -900 to 19000 meters. Conversion formula: uint16_t KlvValue = ((meters + 900) / 19900) * 65535. |
| ST0601_55_RelativeHumidity | value - float length - not used | Relative humidity at aircraft location. Range: 0 to 100 percent. Conversion formula: uint8_t KlvValue = (humidity / 100) * 255. |
| ST0601_56_PlatformGroundspeed | value - uint8_t length - not used | Speed projected on the ground of an airborne platform passing overhead. Range: 0 to 255 meters per second. |
| ST0601_57_GroundRange | value - double length - not used | Horizontal distance from ground position of aircraft relative to nadir, and target of interest. Range: 0 to 5000000 meters. Conversion formula: uint32_t KlvValue = (meters / 5000000) * 4294967295. |
| ST0601_58_PlatformFuelRemaining | value - float length - not used | Remaining fuel on airborne platform. Range: 0 to 10000 kilograms. Conversion formula: uint16_t KlvValue = (kilograms / 10000) * 65535. |
| ST0601_59_PlatformCallSign | value - char* string length - string length | Call sign of platform or operating unit. Size range: 1 to 127 symbols. |
| ST0601_60_WeaponLoad | value - uint16_t length - not used | Current weapons stored on aircraft. Range: 0 to 65535. |
| ST0601_61_WeaponFired | value - uint8_t length - not used | Indication when a particular weapon is released. Range: 0 to 255. |
| ST0601_62_LaserRPFCode | value - uint16_t length - not used | A laser’s Pulse Repetition Frequency (PRF) code used to mark a target. Range: 0 to 65535. |
| ST0601_63_SensorFieldOfViewName | value - custom enumeration value length - not used | Sensor field of view names. Check Table 7 for the enumeration information. |
| ST0601_64_PlatformMagneticHeading | value - float length - not used | Aircraft magnetic heading angle. Range: 0 to 360 degrees. Conversion formula: uint16_t KlvValue = (degrees / 360) * 65535. |
| ST0601_65_UASDatalinkLSVersionNumber | value - uint8_t length - not used | Version number of the UAS Datalink LS document used to generate KLV metadata. Range: 0 to 255. |
| ST0601_66_Deprecated | value - not used length - not used | Deprecated tag. |
| ST0601_67_AlternatePlatformLatitude | value - double length - not used | Alternate platform latitude. Range: -90 to 90 degrees. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. Reserved special value is 0x80000000 |
| ST0601_68_AlternatePlatformLongitude | value - double length - not used | Alternate platform longitude. Range: -180 to 180 degrees. Conversion formula: int32_t KlvValue = (degrees / 360) * 4294967294. Reserved special value is 0x80000000 |
| ST0601_69_AlternatePlatformAltitude | value - float length - not used | Alternate platform altitude. Range: -900 to 19000 meters. Conversion formula: uint16_t KlvValue = ((meters + 900) / 19900) * 65535. |
| ST0601_70_AlternatePlatformName | value - char* string length - string length | Alternate platform name. Size range: 1 to 127 symbols. |
| ST0601_71_AlternatePlatformHeading | value - float length - not used | Heading angle of alternate platform connected to UAS. Range: 0 to 360 degrees. Conversion formula: uint16_t KlvValue = (degrees / 360) * 65535. |
| ST0601_72_EventStartTime | value - uint64_t length - not used | Start time of scene, event, mission, etc. The value is microseconds since Unix epoch (January 1, 1970). |
| ST0601_73_RVTLocalSet | value - uint8_t* buffer length - buffer length | MISB ST 0806 Local Set metadata items. The value is a nested KLV Local Set structure encoded as a byte buffer. |
| ST0601_74_VMTILocalSet | value - uint8_t* buffer length - buffer length | MISB ST 0903 VMTI Local Set metadata items. The value is a nested KLV Local Set structure encoded as a byte buffer. |
| ST0601_75_SensorEllipsoidHeight | value - float length - not used | Sensor ellipsoid height as measured from WGS84 ellipsoid. Range: -900 to 19000 meters. Conversion formula: uint16_t KlvValue = ((meters + 900) / 19900) * 65535. |
| ST0601_76_AlternatePlatform EllipsoidHeight | value - float length - not used | Alternate platform ellipsoid height as measured from WGS84 ellipsoid. Range: -900 to 19000 meters. Conversion formula: uint16_t KlvValue = ((meters + 900) / 19900) * 65535. |
| ST0601_77_OperationalMode | value - custom enumeration length - not used | Indicates the mode of operations of the event portrayed in Motion Imagery. Check Table 8 for the enumeration information. |
| ST0601_78_FrameCenterHeight AboveEllipsoid | value - float length - not used | Frame center ellipsoid height as measured from WGS84 ellipsoid. Range: -900 to 19000 meters. |
| ST0601_79_SensorNorthVelocity | value - float length - not used | Sensor north velocity. Range: -327 to 327 meters per second. Conversion formula: int16_t KlvValue = (speed / 654) * 65534. “Out of range” special value is 0x8000. |
| ST0601_80_SensorEastVelocity | value - float length - not used | Sensor east velocity. Range: -327 to 327 meters per second. Conversion formula: int16_t KlvValue = (speed / 654) * 65534. “Out of range” special value is 0x8000. |
| ST0601_81_ImageHorizonPixelPack | value - custom structure length - not used | Location of earth-sky horizon in the Imagery. Check Table 9 for the data structure information. |
| ST0601_82_CornerLatitudePoint1Full | value - double length - not used | Frame latitude for upper left corner. Range: -90 to 90 degrees. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_83_CornerLongitudePoint1Full | value - double length - not used | Frame longitude for upper left corner. Range: -180 to 180 degrees. Conversion formula: int32_t KlvValue = (degrees / 360) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_84_CornerLatitudePoint2Full | value - double length - not used | Frame latitude for upper right corner. Range: -90 to 90 degrees. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_85_CornerLongitudePoint2Full | value - double length - not used | Frame longitude for upper right corner. Range: -180 to 180 degrees. Conversion formula: int32_t KlvValue = (degrees / 360) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_86_CornerLatitudePoint3Full | value - double length - not used | Frame latitude for lower right corner. Range: -90 to 90 degrees. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_87_CornerLongitudePoint3Full | value - double length - not used | Frame longitude for lower right corner. Range: -180 to 180 degrees. Conversion formula: int32_t KlvValue = (degrees / 360) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_88_CornerLatitudePoint4Full | value - double length - not used | Frame latitude for lower left corner. Range: -90 to 90 degrees. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_89_CornerLongitudePoint4Full | value - double length - not used | Frame longitude for lower left corner. Range: -180 to 180 degrees. Conversion formula: int32_t KlvValue = (degrees / 360) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_90_PlatformPitchAngleFull | value - double length - not used | Aircraft pitch angle. Range: -90 to 90 degrees. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_91_PlatformRollAngleFull | value - double length - not used | Aircraft roll angle. Range: -90 to 90 degrees. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_92_PlatformAngleOfAttackFull | value - double length - not used | Platform attack angle. Range: -90 to 90 degrees. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_93_PlatformSideslipAngleFull | value - double length - not used | Angle between the platform longitudinal axis and relative wind. Range: -180 to 180 degrees. Conversion formula: int32_t KlvValue = (degrees / 360) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000 |
| ST0601_94_MIISCoreIdentifier | value - uint8_t* buffer length - buffer length | MISB ST 1204 MIIS Core Identifier binary value. The value is a byte buffer. |
| ST0601_95_SARMotionImageryLocalSet | value - uint8_t* buffer length - buffer length | MISB ST 1206 SAR Motion Imagery Metadata Local Set metadata items. The value is a nested KLV Local Set structure encoded as a byte buffer. |
| ST0601_96_TargetWidthExtended | value - double length - not used | Target width within sensor field of view. Range: 0 to 1500000 meters. The input meters will be converted to KLV value using MISPB algorithm. |
| ST0601_97_RangeImageLocalSet | value - uint8_t* buffer length - buffer length | MISB ST 1002 Range Imaging Local Set metadata items. The value is a nested KLV Local Set structure encoded as a byte buffer. |
| ST0601_98_GeoRegistrationLocalSet | value - uint8_t* buffer length - buffer length | MISB ST 1601 Geo-Registration Local Set metadata items. The value is a nested KLV Local Set structure encoded as a byte buffer. |
| ST0601_99_CompositeImagingLocalSet | value - uint8_t* buffer length - buffer length | MISB ST 1602 Composite Imaging Local Set metadata items. The value is a nested KLV Local Set structure encoded as a byte buffer. |
| ST0601_100_SegmentLocalSet | value - uint8_t* buffer length - buffer length | MISB ST 1607 Segment Local Set metadata items, used to enable metadata sharing. The value is a nested KLV Local Set structure encoded as a byte buffer. |
| ST0601_101_AmendLocalSet | value - uint8_t* buffer length - buffer length | MISB ST 1607 Amend Local Set metadata items, used to provide metadata corrections. The value is a nested KLV Local Set structure encoded as a byte buffer. |
| ST0601_102_SDCCFLP | value - uint8_t* buffer length - buffer length | MISB ST 1010 Floating Length Pack metadata item, providing Standard Deviation and Cross Correlation (SDCC) metadata. The value is a nested KLV Local Set structure encoded as a byte buffer. |
| ST0601_103_DensityAltitudeExtended | value - double length - not used | Density altitude above MSL at aircraft location. Range: -900 to 40000 meters. The input meters will be converted to KLV value using MISPB algorithm. |
| ST0601_104_SensorEllipsoid HeightExtended | value - double length - not used | Sensor ellipsoid height extended as measured from WGS84 ellipsoid. Range: -900 to 40000 meters. The input meters will be converted to KLV value using MISPB algorithm. |
| ST0601_105_AlternatePlatform EllipsoidHeightExtended | value - double length - not used | Alternate platform ellipsoid height extended as measured from WGS84 ellipsoid. Range: -900 to 40000 meters. The input meters will be converted to KLV value using MISPB algorithm. |
| ST0601_106_StreamDesignator | value - char* string length - string length | A second designation given to a sortie. The value is a string with size range: 1 to 127 symbols. |
| ST0601_107_OperationalBase | value - char* string length - string length | Name of the operational base hosting the platform. The value is a string with size range: 1 to 127 symbols. |
| ST0601_108_BroadcastSource | value - char* string length - string length | Name of the source, where the Motion Imagery is first broadcast. The value is a string with size range: 1 to 127 symbols. |
| ST0601_109_RangeToRecoveryLocation | value - float length - not used | Distance from current position to airframe recovery position. Range: 0 to 21000 kilometers. The input kilometers will be converted to KLV value using MISPB algorithm. |
| ST0601_110_TimeAirborne | value - uint32_t length - not used | Number of seconds aircraft has been airborne. |
| ST0601_111_PropulsionUnitSpeed | value - uint32_t length - not used | The speed the engine is rotating at. Value is in RPM. |
| ST0601_112_PlatformCourseAngle | value - double length - not used | Direction the aircraft is moving relative to True North. Range: 0 to 360 degrees. The input degrees will be converted to KLV value using MISPB algorithm. |
| ST0601_113_AltitudeAGL | value - double length - not used | Above Ground Level (AGL) height above the ground or water. Range: -900 to 40000 meters. The input meters will be converted to KLV value using MISPB algorithm. |
| ST0601_114_RadarAltimeter | value - double length - not used | Height above the ground or water as reported by a radar altimeter. Range: -900 to 40000 meters. The input meters will be converted to KLV value using MISPB algorithm. |
| ST0601_115_ControlCommand | value - custom structure length - not used | Record of command from GCS to aircraft. Check Table 10 for the data structure information. |
| ST0601_116_ControlCommand VerificationList | value - uint32_t array length - array size | Acknowledgement of one or more control commands were received by the platform. |
| ST0601_117_SensorAzimuthRate | value - float length - not used | The rate the sensor’s azimuth angle is changing. Range: -1000 to 1000 degrees per second. The input degrees per second will be converted to KLV value using MISPB algorithm. |
| ST0601_118_SensorElevationRate | value - float length - not used | The rate the sensor’s elevation angle is changing. Range: -1000 to 1000 degrees per second. The input degrees per second will be converted to KLV value using MISPB algorithm. |
| ST0601_119_SensorRollRate | value - float length - not used | The rate the sensor’s roll angle is changing. Range: -1000 to 1000 degrees per second. The input degrees per second will be converted to KLV value using MISPB algorithm. |
| ST0601_120_OnboardMiStoragePercentFull | value - float length - not used | Amount of on-board Motion Imagery storage used as a percentage of the total storage. Range: 0 to 100 percent. |
| ST0601_121_ActiveWavelengthList | value - uint32_t array length - array length | List of wavelengths in Motion Imagery. |
| ST0601_122_CountryCodes | value - custom structure length - not used | Country codes associated with the platform and operation. Check Table 11 for the data structure information. |
| ST0601_123_NumberOfNAVSATsInView | value - uint8_t length - not used | Count of navigation satellites in view of platform. Range: 0 to 255. |
| ST0601_124_PositioningMethodSource | value - uint8_t length - not used | Source of the navigation positioning information. The byte value is a bitmask. Check Table 4 for more information. |
| ST0601_125_PlatformStatus | value - custom enumeration length - not used | Enumeration of operational modes of the platform. Check Table 12 for the enumeration information. |
| ST0601_126_SensorControlMode | value - custom enumeration length - not used | Enumerated value for the current sensor control operational status. Check Table 13 for the enumeration information. |
| ST0601_127_SensorFrameRatePack | value - custom structure length - not used | Value used to calculate the frame rate of the Motion Imagery at the sensor. Check Table 14 for the data structure information. |
| ST0601_128_WavelengthList | value - custom structures array length - array length | List of wavelength bands provided by sensor(s). Check Table 15 for the data structure information. |
| ST0601_129_TargetID | value - char* string length - string length | Alpha-numeric identification of a target. Size range: 1 to 32 symbols. |
| ST0601_130_AirbaseLocations | value - custom structures array length - array length | Geographic location of the take-off site and recovery site. First location is the take-off location (mandatory), second location is the recovery location (optional). Check Table 16 for the data structure information. |
| ST0601_131_TakeOffTime | value - uint64_t length - not used | Time when aircraft became airborne. The value is microseconds since Unix epoch (January 1, 1970). |
| ST0601_132_TransmissionFrequency | value - double length - not used | Radio frequency used to transmit the Motion Imagery. Range: 1 to 99999 MHz. The input MHz will be converted to KLV value using MISPB algorithm. |
| ST0601_133_OnboardMIStoreageCapacity | value - uint32_t length - not used | The total capacity of on-board Motion Imagery storage. Range: 0 to 4294967295 Gigabytes. |
| ST0601_134_ZoomPercentage | value - float length - not used | The zoom percentage of the sensor. Range: 0 to 100 percent. The input percentage will be converted to KLV value using MISPB algorithm. |
| ST0601_135_CommunicationsMethod | value - char* string length - string length | Type of communications used with platform. Size range: 1 to 127 symbols. |
| ST0601_136_LeapSeconds | value - int32_t length - not used | Number of leap seconds since MISP Epoch to use when converting Precision Time Stamp (Tag 2) to UTC. Range: 0 to 4294967295 seconds. |
| ST0601_137_CorrectionOffset | value - int64_t length - not used | Post-flight time adjustment to correct Precision Time Stamp (Tag 2) as needed. |
| ST0601_138_PayloadList | value - custom structures array length - array length | List of payloads available on the platform. Check Table 17 for the data structure information. |
| ST0601_139_ActivePayloads | value - uint8_t length - not used | List of currently active payloads from the payload list (Tag 138). The value is a byte with each bit representing an active payload according to the payload list. Check Table 5 for more information. |
| ST0601_140_WeaponsStores | value - custom structures array length - array length | List of weapons stores and status. Check Table 19 for the data structure information. |
| ST0601_141_WaypointList | value - custom structures array length - array length | List of waypoints and their status. Check Table 21 for the data structure information. |
| ST0601_142_ViewDomain | value - custom structure length - not used | Specifies the domain of values for Relative Sensor Azimuth, Elevation and Roll angles. Check Table 22 for the data structure information. |
| ST0601_143_MetadataSubstreamIDPack | value - custom structure length - not used | Identifier for Segment or Amend items. Check Table 23 for the data structure information. |
Table 3 - Generic Flag Data bits (Tag 47).
| Bit | Name | One indicates | Zero indicates |
|---|---|---|---|
| 0 | Laser range | Laser on | Laser off |
| 1 | Auto-track | Auto-track on | Auto-track off |
| 2 | IR polarity | Black hot | White hot |
| 3 | Icing status | Icing detected | No icing detected |
| 4 | Slant range | Measured | Calculated |
| 5 | Image invalid | Image invalid | Image valid |
| 6 | Reserved | Not used | Not used |
| 7 | Reserved | Not used | Not used |
Table 4 - Positioning Method Source bits (Tag 124).
| Bit | Type | Name | Country |
|---|---|---|---|
| 0 | INS | On-board Inertial Navigation System | N/A |
| 1 | NAVSAT | GPS | USA |
| 2 | NAVSAT | Galileo | EU |
| 3 | NAVSAT | QZSS | Japan |
| 4 | NAVSAT | NAVIC | India |
| 5 | NAVSAT | GLONASS | Russia |
| 6 | NAVSAT | BeiDou-1 | China |
| 7 | NAVSAT | BeiDou-2 | China |
Table 5 - Active Payloads bits (Tag 139).
| Bit | Payload ID |
|---|---|
| 0 | 0 |
| 1 | 1 |
| 2 | 2 |
| 3 | 3 |
| 4 | 4 |
| 5 | Not used |
| 6 | Not used |
| 7 | Not used |
ST0601_34_IcingDetected enumeration
Enumeration for ST0601 Tag 34 - Icing Detected.
enum class ST0601_34_IcingDetected : uint8_t
{
DetectorOff = 0,
NoIcingDetected,
IcingDetected
};
Table 6.
| Field | Value |
|---|---|
| DetectorOff | 0 |
| NoIcingDetected | 1 |
| IcingDetected | 2 |
ST0601_63_SensorFieldOfViewName enumeration
Sensor field of view names (Tag 63). The Sensor Field of View Name indicates the Motion Imagery sensor’s current lens type.
enum class ST0601_63_SensorFieldOfViewName : uint8_t
{
Other = 0,
Narrow,
Medium,
Wide,
Ultrawide,
NarrowMedium,
TwoTimesUltranarrow,
FourTimesUltranarrow,
ContinuousZoom
};
Table 7.
| Field | Value |
|---|---|
| Other | 0 |
| Narrow | 1 |
| Medium | 2 |
| Wide | 3 |
| Ultrawide | 4 |
| NarrowMedium | 5 |
| TwoTimesUltranarrow | 6 |
| FourTimesUltranarrow | 7 |
| ContinuousZoom | 8 |
| Reserved | 9-255 |
ST0601_77_OperationalMode enumeration
Operational Mode (Tag 77). The enumeration provides an indication of the event portrayed in the metadata.
enum class ST0601_77_OperationalMode : uint8_t
{
Other = 0,
Operational,
Training,
Exercise,
Maintenance,
Test
};
Table 8.
| Field | Value |
|---|---|
| Other | 0 |
| Operational | 1 |
| Training | 2 |
| Exercise | 3 |
| Maintenance | 4 |
| Test | 5 |
| Reserved | 6-255 |
ST0601_81_ImageHorizonPixelPackData structure
Data structure for ST0601 Tag 81 - Image Horizon Pixel Pack.
struct ST0601_81_ImageHorizonPixelPackData
{
// The coordinate is representing the start x position of
// a vector crossing an image horizon. The coordinate is in
// percentage of the image size.
// Mandatory.
uint8_t x0;
// The coordinate is representing the start y position of
// a vector crossing an image horizon. The coordinate is in
// percentage of the image size.
// Mandatory.
uint8_t y0;
// The coordinate is representing the end x position of
// a vector crossing an image horizon. The coordinate is in
// percentage of the image size.
// Mandatory.
uint8_t x1;
// The coordinate is representing the end y position of
// a vector crossing an image horizon. The coordinate is in
// percentage of the image size.
// Mandatory.
uint8_t y1;
// The latitude of the start point on the image border.
// Based on WGS84 ellipsoid. The coordinate is in degrees.
// Optional, but recommended.
std::optional<double> startLatitude;
// The longitude of the start point on the image border.
// Based on WGS84 ellipsoid. The coordinate is in degrees.
// Optional, but recommended.
std::optional<double> startLongitude;
// The latitude of the end point on the image border.
// Based on WGS84 ellipsoid. The coordinate is in degrees.
// Optional, but recommended.
std::optional<double> endLatitude;
// The longitude of the end point on the image border.
// Based on WGS84 ellipsoid. The coordinate is in degrees.
// Optional, but recommended.
std::optional<double> endLongitude;
};
Table 9.
| Field | Type | Description |
|---|---|---|
| x0 | uint8_t | The coordinate is representing the start x position of a vector crossing an image horizon. The coordinate is in percentage of the image size. Mandatory. |
| y0 | uint8_t | The coordinate is representing the start y position of a vector crossing an image horizon. The coordinate is in percentage of the image size. Mandatory. |
| x1 | uint8_t | The coordinate is representing the end x position of a vector crossing an image horizon. The coordinate is in percentage of the image size. Mandatory. |
| y1 | uint8_t | The coordinate is representing the end y position of a vector crossing an image horizon. The coordinate is in percentage of the image size. Mandatory. |
| startLatitude | double | The latitude of the start point on the image border. Based on WGS84 ellipsoid. The coordinate is in degrees. Optional, but recommended. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000. |
| startLongitude | double | The longitude of the start point on the image border. Based on WGS84 ellipsoid. The coordinate is in degrees. Optional, but recommended. Conversion formula: int32_t KlvValue = (degrees / 360) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000. |
| endLatitude | double | The latitude of the end point on the image border. Based on WGS84 ellipsoid. The coordinate is in degrees. Optional, but recommended. Conversion formula: int32_t KlvValue = (degrees / 180) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000. |
| endLongitude | double | The longitude of the end point on the image border. Based on WGS84 ellipsoid. The coordinate is in degrees. Optional, but recommended. Conversion formula: int32_t KlvValue = (degrees / 360) * 4294967294. “N/A (Off-Earth)” indicator special value is 0x80000000. |
ST0601_115_ControlCommand structure
Data structure for ST0601 Tag 115 - Control Command.
struct ST0601_115_ControlCommand
{
// This is an increasing and unique number
// assigned to each command as it is issued.
uint32_t commandId;
// Command description. Size range: 1 to 127 symbols.
// Mandatory.
std::string commandStr;
// Time when the command was issued.
// Optional.
std::optional<uint64_t> timestamp;
};
Table 10.
| Field | Type | Description |
|---|---|---|
| commandId | uint32_t | This is an increasing and unique number assigned to each command as it is issued. Encoded using BER-OID encoding. Mandatory. |
| commandStr | string | Command description. Size range: 1 to 127 symbols. Mandatory. |
| timestamp | uint64_t | Time when the command was issued. Optional. |
ST0601_122_CountryCodesData structure
Data structure for ST0601 Tag 122 - Country Codes Data.
struct ST0601_122_CountryCodesData
{
// Coding method used for the country codes.
// Mandatory.
uint8_t codingMethod;
// The country the platform is operating or flying over.
// Mandatory.
std::string overflightCountryCode;
// Country where the operator is located.
// Optional.
std::string operatorCountryCode;
// Country where the platform was manufactured.
// Optional.
std::string manufactureCountryCode;
};
Table 11.
| Field | Type | Description |
|---|---|---|
| codingMethod | uint8_t | Coding method used for the country codes. Mandatory. |
| overflightCountryCode | string | The country the platform is operating or flying over. Mandatory. |
| operatorCountryCode | string | Country where the operator is located. Optional. |
| manufactureCountryCode | string | Country where platform was manufactured. Optional. |
ST0601_125_PlatformStatus enumeration
Enumeration for ST0601 Tag 125 - Platform Status.
enum class ST0601_125_PlatformStatus : uint8_t
{
// Platform is active but with unknown status
Active = 0,
// Platform is performing pre-flight tasks
PreFlight,
// Platform is taxiing before take-off
PreFlightTaxiing,
// Engine run-up before take-off
RunUp,
// Platform is taking off
TakeOff,
// Platform is flying to first target
Ingress,
// Human is piloting the platform
ManualOperation,
// Automated system is piloting platform
AutomatedOrbits,
// Platform is transitioning to new target
Transitioning,
// Platform is flying to recovery location
Egress,
// Platform is landing - wheels down
Landing,
// Platform has landed and is taxiing
LandedTaxiing,
// Platform is parked after mission, awaiting power down
LandedParked
};
Table 12.
| Field | Value | Description |
|---|---|---|
| Active | 0 | Platform is active but with unknown status |
| PreFlight | 1 | Platform is performing pre-flight tasks |
| PreFlightTaxiing | 2 | Platform is taxiing before take-off |
| RunUp | 3 | Engine run-up before take-off |
| TakeOff | 4 | Platform is taking off |
| Ingress | 5 | Platform is flying to first target |
| ManualOperation | 6 | Human is piloting the platform |
| AutomatedOrbits | 7 | Automated system is piloting platform |
| Transitioning | 8 | Platform is transitioning to new target |
| Egress | 9 | Platform is flying to recovery location |
| Landing | 10 | Platform is landing - wheels down |
| LandedTaxiing | 11 | Platform has landed and is taxiing |
| LandedParked | 12 | Platform is parked after mission, awaiting power down |
| Reserved | 13-255 | Reserved for future use |
ST0601_126_SensorControlMode enumeration
Enumeration for ST0601 Tag 126 - Sensor Control Mode.
enum class ST0601_126_SensorControlMode : uint8_t
{
// The sensor is powered off
Off = 0,
// The sensor is at its home or lock position
HomePosition,
// No person or system is controlling the sensor
Uncontrolled,
// A person is directing the sensor
ManualControl,
// The sensor is calibrating
Calibrating,
// An automated system is controlling the sensor, holding it in position
AutoHoldingPosition,
// An automated system is controlling the sensor, tracking a target
AutoTracking
};
Table 13.
| Field | Value | Description |
|---|---|---|
| Off | 0 | The sensor is powered off |
| HomePosition | 1 | The sensor is at its home or lock position |
| Uncontrolled | 2 | No person or system is controlling the sensor |
| ManualControl | 3 | A person is directing the sensor |
| Calibrating | 4 | The sensor is calibrating |
| AutoHoldingPosition | 5 | An automated system is controlling the sensor, holding it in position |
| AutoTracking | 6 | An automated system is controlling the sensor, tracking a target |
| Reserved | 7-255 | Reserved for future use |
ST0601_127_SensorFrameRatePackData structure
Data structure for ST0601 Tag 127 - Sensor Frame Rate Pack. Values are used to calculate the frame rate. For example, 29.97 FPS can be represented as numerator=30000 and denominator=1001.
struct ST0601_127_SensorFrameRatePackData
{
// Mandatory.
uint32_t numerator;
// Optional. If not provided, denominator is assumed to be 1.
uint32_t denominator = 1;
};
Table 14.
| Field | Type | Description |
|---|---|---|
| numerator | uint32_t | Mandatory. |
| denominator | uint32_t | Optional. If not provided, denominator is assumed to be 1. |
ST0601_128_WavelengthRecord structure
Data structure for ST0601 Tag 128 - Wavelength List.
struct ST0601_128_WavelengthRecord
{
// Wavelength ID. Encoded using BER-OID encoding.
// Mandatory.
uint32_t id;
// Minimum wavelength. Encoded using IMAPB algorithm.
// Mandatory.
float min;
// Maximum wavelength. Encoded using IMAPB algorithm.
// Mandatory.
float max;
// Name of the wavelength.
// Mandatory.
std::string name;
};
Table 15.
| Field | Type | Description |
|---|---|---|
| id | uint32_t | Wavelength ID. Encoded using BER-OID encoding. Mandatory. |
| min | float | Minimum wavelength. Encoded using IMAPB algorithm. Mandatory. |
| max | float | Maximum wavelength. Encoded using IMAPB algorithm. Mandatory. |
| name | string | Name of the wavelength. Mandatory. |
ST0601_130_AirbaseLocation structure
Data structure for ST0601 Tag 130 - Airbase Locations.
struct ST0601_130_AirbaseLocation
{
// Range: -90 to 90 degrees.
double latitude;
// Range: -180 to 180 degrees.
double longitude;
// Height Above Ellipsoid. Range: -900 to 9000 meters.
std::optional<double> hae;
};
Table 16.
| Field | Type | Description |
|---|---|---|
| latitude | double | Range: -90 to 90 degrees. The input degree value will be converted to KLV value using IMAPB algorithm. Mandatory. |
| longitude | double | Range: -180 to 180 degrees. The input degree value will be converted to KLV value using IMAPB algorithm. Mandatory. |
| hae | double | Height Above Ellipsoid. Range: -900 to 9000 meters. The input meter value will be converted to KLV value using IMAPB algorithm. Optional. |
ST0601_138_PayloadRecord structure
Data structure for ST0601 Tag 138 - Payload List.
struct ST0601_138_PayloadRecord
{
// Payload ID. Range: 0 to 255.
uint8_t id;
// Payload type.
ST0601_138_PayloadType type;
// Payload name.
std::string name;
};
Table 17.
| Field | Type | Description |
|---|---|---|
| id | uint8_t | Payload ID. Range: 0 to 255. Mandatory. |
| type | ST0601_138_PayloadType | Payload type. Check Table 18 for more information. Mandatory. |
| name | string | Payload name. Mandatory. |
ST0601_138_PayloadType enumeration
Payload types for ST0601 Tag 138 - Payload List.
enum class ST0601_138_PayloadType : uint8_t
{
ElectroOpticalMiSensor = 0,
Lidar,
Radar,
SIGINT,
SAR
};
Table 18.
| Field | Value |
|---|---|
| ElectroOpticalMiSensor | 0 |
| Lidar | 1 |
| Radar | 2 |
| SIGINT | 3 |
| SAR | 4 |
ST0601_140_WeaponsRecord structure
Data structure for ST0601 Tag 140 - Weapons Stores.
struct ST0601_140_WeaponsRecord
{
// ID of the fuselage.
uint8_t stationId;
// ID of hard point for attaching weapons.
uint8_t hardpointId;
// ID of carriage system, which is attached to hard point.
uint8_t carriageId;
// ID of the store, which is a part of carriage system.
uint8_t storeId;
// Fuze enabled.
bool fuzeEnabled;
// Laser enabled.
bool laserEnabled;
// Target enabled.
bool targetEnabled;
// Weapon armed.
bool weaponArmed;
// Weapon General Status.
ST0601_140_WeaponStatus weaponGeneralStatus;
// Weapon type.
std::string typeName;
};
Table 19.
| Field | Type | Description |
|---|---|---|
| stationId | uint8_t | ID of the fuselage. Range: 0 to 255. Mandatory. |
| hardpointId | uint8_t | ID of hard point for attaching weapons. Range: 0 to 255. Mandatory. |
| carriageId | uint8_t | ID of carriage system, which is attached to hard point. Range: 0 to 255. Mandatory. |
| storeId | uint8_t | ID of the store, which is a part of carriage system. Range: 0 to 255. Mandatory. |
| fuzeEnabled | bool | Fuze enabled. True - Fuze functions are set. False - Fuze functions are not set. Mandatory. |
| laserEnabled | bool | Laser enabled. True - Laser functions are set. False - Laser functions are not set. Mandatory. |
| targetEnabled | bool | Target enabled. True - Target functions are set. False - Target functions are not set. Mandatory. |
| weaponArmed | bool | Weapon armed. True - Master Arm is set. False - Master Arm is not set. Mandatory. |
| weaponGeneralStatus | ST0601_140_WeaponStatus | Weapon General Status. Check Table 20 for more information. Mandatory. |
| typeName | string | Weapon type name. Mandatory. |
ST0601_140_WeaponStatus enumeration
Enumeration for ST0601 Tag 140 - Weapon General Status.
enum class ST0601_140_WeaponStatus : uint8_t
{
// No power operating power is available to the Store.
Off = 0,
// Operating Power is on and the Store is initializing.
Initialization,
// Store initialization completed - full capability not available.
Degraded,
// Store initialization completed - full capability is available.
AllUpRound,
// Dedicated release processes started including activation of
// irreversible functions.
Launch,
// Store has successfully separated from the platform.
FreeFlight,
// Either commanded into or safety critical anomaly detected.
Abort,
// Weapon miss - fired.
MissFire,
// Weapon which does not separate from aircraft when activated for
// employment or jettison.
HangFire,
// Intentional or emergency separation of weapon from aircraft
// with the weapon in the unarmed state (fuze - safe).
Jettisoned,
// Weapon is bypassed due to failure. Weapon can still be jettisoned.
SteppedOver,
// Unknown status.
NoStatusAvailable
};
Table 20.
| Field | Value | Description |
|---|---|---|
| Off | 0 | No power operating power is available to the Store. |
| Initialization | 1 | Operating Power is on and the Store is initializing. |
| Degraded | 2 | Store initialization completed - full capability not available. |
| AllUpRound | 3 | Store initialization completed � full capability is available. |
| Launch | 4 | Dedicated release processes started including activation of irreversible functions. |
| FreeFlight | 5 | Store has successfully separated from the platform. |
| Abort | 6 | Either commanded into or safety critical anomaly detected. |
| MissFire | 7 | Weapon miss - fired. |
| HangFire | 8 | Weapon which does not separate from aircraft when activated for employment or jettison. |
| Jettisoned | 9 | Intentional or emergency separation of weapon from aircraft with the weapon in the unarmed state (fuze - safe). |
| SteppedOver | 10 | Weapon is bypassed due to failure. Weapon can still be jettisoned. |
| NoStatusAvailable | 11 | Unknown status. |
ST0601_141_WaypointRecord structure
Data structure for ST0601 Tag 141 - Waypoint List. It uses ST0601_130_AirbaseLocation structure for waypoint location, because waypoint location has the same format as airbase location. Check Table 16 for more information.
struct ST0601_141_WaypointRecord
{
// Waypoint ID.
uint16_t id;
// Waypoint prosecution order.
int16_t prosecutionOrder;
// Creation waypoint method.
bool source;
// Method of control to fly to the waypoint.
bool mode;
// Waypoint location.
ST0601_130_AirbaseLocation location;
};
Table 21.
| Field | Type | Description |
|---|---|---|
| id | uint16_t | Waypoint ID. Range: 0 to 65535. Mandatory. |
| prosecutionOrder | int16_t | Waypoint prosecution order. Range: -32768 to 32766. Positive value is planned waypoint. Negative value is historical waypoint. Cancelled waypoint value is 32767 (0x7FFF). Mandatory. |
| source | bool | Creation waypoint method. True - it is ad hoc. False - it is pre-planned. Mandatory. |
| mode | bool | Method of control to fly to the waypoint. True - it is manual. False - it is automated. Mandatory. |
| location | ST0601_130_AirbaseLocation | Waypoint location. Check Table 16 for more information. Mandatory. |
ST0601_142_ViewDomainData structure
Data structure for ST0601 Tag 142 - View Domain.
struct ST0601_142_ViewDomainData
{
// The start angle of azimuth bounds.
std::optional<double> azimuthStart;
// The range of azimuth bounds.
std::optional<double> azimuthRange;
// The start angle of elevation bounds.
std::optional<double> elevationStart;
// The range of elevation bounds.
std::optional<double> elevationRange;
// The start angle of roll bounds.
std::optional<double> rollStart;
// The range of roll bounds.
std::optional<double> rollRange;
};
Table 22.
| Field | Type | Description |
|---|---|---|
| azimuthStart | double | The start angle of azimuth bounds. Range: 0 to 360 degrees. The input degree value will be converted to KLV value using IMAPB algorithm. Optional. |
| azimuthRange | double | The range of azimuth bounds. Range: 0 to 360 degrees. The input degree value will be converted to KLV value using IMAPB algorithm. Optional. |
| elevationStart | double | The start angle of elevation bounds. Range: -180 to 180 degrees. The input degree value will be converted to KLV value using IMAPB algorithm. Optional. |
| elevationRange | double | The range of elevation bounds. Range: 0 to 360 degrees. The input degree value will be converted to KLV value using IMAPB algorithm. Optional. |
| rollStart | double | The start angle of roll bounds. Range: 0 to 360 degrees. The input degree value will be converted to KLV value using IMAPB algorithm. Optional. |
| rollRange | double | The range of roll bounds. Range: 0 to 360 degrees. The input degree value will be converted to KLV value using IMAPB algorithm. Optional. |
ST0601_143_MetadataSubstreamIDPack structure
Data structure for ST0601 Tag 143 - Metadata Substream ID Pack.
struct ST0601_143_MetadataSubstreamIDPack
{
// Local identifier.
uint8_t localId;
// Universal identifier. Size is 16 bytes.
std::array<uint8_t, 16> universalId;
};
Table 23.
| Field | Type | Description |
|---|---|---|
| localId | uint8_t | Local identifier. Mandatory. |
| universalId | array<uint8_t, 16> | Universal identifier. Size is 16 bytes. Mandatory. |
Example
Here is the example of usage of this library. It shows how to create a new buffer with KLV metadata. It resets the buffer in the encoder, adds parameters to the encoder, gets the buffer from the encoder, displays the buffer in HEX format, and saves the buffer to the output.klv file located in the compiled example app folder. You can find the example in the example folder of this repository. It is ready for compilation. You can build the example by following the instructions; it will be built with the library.
#include <iostream>
#include <filesystem>
#include <fstream>
#include "KlvEncoder.h"
// Link namespaces.
using namespace std;
using namespace filesystem;
using namespace cr::metadata;
// Entry point.
int main(void)
{
// Create encoder instance.
KlvEncoder encoder;
// Reset buffer before encoding new KLV package.
encoder.resetBuffer();
// Add camera horizontal Field of View, Tag 16.
float horizontalFov = 90.0f;
encoder.addParam(MISBTag::ST0601_16_SensorHorizontalFieldOfView, (void*)&horizontalFov);
// Add camera vertical Field of View, Tag 17.
float verticalFov = 45.0f;
encoder.addParam(MISBTag::ST0601_17_SensorVerticalFieldOfView, (void*)&verticalFov);
// Add relative Azimuth Angle, Tag 18.
double azimuth = 45.0;
encoder.addParam(MISBTag::ST0601_18_SensorRelativeAzimuthAngle, (void*)&azimuth);
// Add relative Elevation Angle, Tag 19.
double elevation = -30.0;
encoder.addParam(MISBTag::ST0601_19_SensorRelativeElevationAngle, (void*)&elevation);
// Get KLV buffer.
vector<uint8_t> klvBuffer = encoder.getBuffer();
// Show bytes in hex.
cout << "KLV Buffer (" << klvBuffer.size() << " bytes): ";
for (size_t i = 0; i < klvBuffer.size(); i++)
cout << hex << (int)klvBuffer[i] << " ";
cout << endl;
// Save KLV buffer to file.
path outputPath = "output.klv";
ofstream outputFile(outputPath, ios::binary);
for (size_t i = 0; i < klvBuffer.size(); i++)
outputFile << klvBuffer[i];
outputFile.close();
return 1;
}
After building the example, you can run it.
Linux OS:
./KlvEncoderExample
Windows OS:
.\KlvEncoderExample.exe
KLV data verification
If you want to verify that the KLV data is encoded correctly, you can use the klvp open source C++ library. This library includes the example application klv2xml. You need to clone the klvp repository, configure for your OS and build the library with the example app. You need to use a KLV metadata file. You can use the output.klv file that can be saved by our example. After that, you can run klv2xml from the command line:
Linux OS:
./klv2xml ./path/to/output.klv ./data/klv.s3db
Windows OS:
.\klv2xml.exe .\path\to\output.klv .\data\klv.s3db
The klv.s3db file is located in the data folder of the klvp repository. If you verify the KLV data from our example, you will get the following output:
<KLV file="./path/to/output.klv">
<Local_Set length="20" count="0">
<KLVSensorHorizontalFieldofView key="16">90.001373</KLVSensorHorizontalFieldofView>
<KLVSensorVerticalFieldofView key="17">45.000687</KLVSensorVerticalFieldofView>
<KLVSensorRelativeAzimuthAngle key="18">45.000000</KLVSensorRelativeAzimuthAngle>
<KLVSensorRelativeElevationAngle key="19">150.000000</KLVSensorRelativeElevationAngle>
<ERROR msg="Invalid Checksum" pos="0"/>
</Local_Set>
</KLV>
Build and connect to your project
Typical commands to build KlvEncoder library (on Linux OS and Windows OS):
cd KlvEncoder
mkdir build
cd build
cmake ..
make
If you want to connect the KlvEncoder library to your CMake project as source code, you can do the following. For example, if your repository has the following structure:
CMakeLists.txt
src
CMakeList.txt
yourLib.h
yourLib.cpp
Create a 3rdparty folder in your repository and copy the KlvEncoder repository folder there. The new structure of your repository:
CMakeLists.txt
src
CMakeList.txt
yourLib.h
yourLib.cpp
3rdparty
KlvEncoder
Create CMakeLists.txt file in 3rdparty folder. CMakeLists.txt should contain:
cmake_minimum_required(VERSION 3.13)
################################################################################
## 3RD-PARTY
## dependencies for the project
################################################################################
project(3rdparty LANGUAGES CXX)
################################################################################
## SETTINGS
## basic 3rd-party settings before use
################################################################################
# To inherit the top-level architecture when the project is used as a submodule.
SET(PARENT ${PARENT}_YOUR_PROJECT_3RDPARTY)
# Disable self-overwriting of parameters inside included subdirectories.
SET(${PARENT}_SUBMODULE_CACHE_OVERWRITE OFF CACHE BOOL "" FORCE)
################################################################################
## INCLUDING SUBDIRECTORIES
## Adding subdirectories according to the 3rd-party configuration
################################################################################
if (${PARENT}_SUBMODULE_KLV_ENCODER)
add_subdirectory(KlvEncoder)
endif()
File 3rdparty/CMakeLists.txt adds folder KlvEncoder to your project and excludes examples from compiling (by default examples are excluded from compiling if KlvEncoder is included as a submodule). Your repository’s new structure will be:
CMakeLists.txt
src
CMakeList.txt
yourLib.h
yourLib.cpp
3rdparty
CMakeLists.txt
KlvEncoder
Next, you need to include the 3rdparty folder in the main CMakeLists.txt file of your repository. Add the following line at the end of your main CMakeLists.txt:
add_subdirectory(3rdparty)
Next, you have to include the KlvEncoder library in your src/CMakeLists.txt file:
target_link_libraries(${PROJECT_NAME} KlvEncoder)
Done!