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  2. Command and Control Interface for Navigation Systems (C2INav) 1.0 FTF

Open Issues

  • Issues not resolved
  • Name: c2inav-ftf
  • Issues Count: 25

Issues Summary

Key Issue Reported Fixed Disposition Status
C2INAV-49 FTF-1 changes to be applied to GraphQL PSM C2INAV 1.0a1 open
C2INAV-3 Accuracy compositions should have notes C2INAV 1.0a1 open
C2INAV-1 navigation_covariance_type should have a max length C2INAV 1.0a1 open
C2INAV-2 write_rotational_attitude is not correctly entered in the UML model C2INAV 1.0a1 open
C2INAV-4 implementation defined is miss-spelled C2INAV 1.0a1 open
C2INAV-47 Rotation should be about the centre of rotation not the platform reference point C2INAV 1.0a1 open
C2INAV-20 Duplicate declaration from overloaded operation names C2INAV 1.0a1 open
C2INAV-19 navigation_report_kind_sequence_type in unbounded in DDS PSM C2INAV 1.0a1 open
C2INAV-21 Unclear which OARIS files are required C2INAV 1.0a1 open
C2INAV-16 Type mismatch in reference to navigation_report_type C2INAV 1.0a1 open
C2INAV-14 Only top-level attributes can be declared as keys for DDS topic types C2INAV 1.0a1 open
C2INAV-7 All Ext child packages are in the same file C2INAV 1.0a1 open
C2INAV-5 Add notes to the navigation_report_kind_type in the IDL/DDS PSM enum literals C2INAV 1.0a1 open
C2INAV-6 navigation_report_type: composite_contributors needs a Length tag C2INAV 1.0a1 open
C2INAV-45 No Depth Accuracy Information Available C2INAV 1.0a1 open
C2INAV-43 Placement of surge,sway and heave within the spec C2INAV 1.0a1 open
C2INAV-17 Depth Report not a specialisation of navigation_report_type C2INAV 1.0a1 open
C2INAV-12 Circular dependency between modules Reporting and Attitude C2INAV 1.0a1 open
C2INAV-10 Missing import statements C2INAV 1.0a1 open
C2INAV-15 Reference from navigation_covariance_type to navigation_report_type needs a length C2INAV 1.0a1 open
C2INAV-9 Strings should have a maximum size C2INAV 1.0a1 open
C2INAV-18 There are no notes for the report relation of navigation_covariance_type C2INAV 1.0a1 open
C2INAV-11 offset_report_type is declared out of order C2INAV 1.0a1 open
C2INAV-8 Class version numbers are inappropriate C2INAV 1.0a1 open
C2INAV-13 Declaration of keys missing from IDL files C2INAV 1.0a1 open

Issues Descriptions

FTF-1 changes to be applied to GraphQL PSM

  • Key: C2INAV-49
  • Status: open  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    Some but by now means all of the Issue Resolution from FTF-1 are applicable to the GraphQL PSM. These should be determined and applied as appropriate.

  • Reported: C2INAV 1.0a1 — Thu, 14 May 2020 20:13 GMT
  • Updated: Tue, 14 Jul 2020 19:18 GMT

Accuracy compositions should have notes


navigation_covariance_type should have a max length

  • Key: C2INAV-1
  • Status: open  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    To allow application to statically size (bound) their data structures variably sized datatypes should have a tag to bound the size.
    Accordingly navigation_covariance_type should have a Length tag.
    The maximum value = 253
    (sum(3n+1; n=7) = 22 * 23 / 2) (as there are seven topics each with three values - plus time that can contribute to the covariance; this is very much a worst-case upper bound)

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 15:28 GMT
  • Updated: Mon, 13 Jul 2020 14:28 GMT

write_rotational_attitude is not correctly entered in the UML model

  • Key: C2INAV-2
  • Status: open  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    In the supporting modelling tool (auxiliary file) the rotation parameter of the write_rotational_attitude operation does not have its classifier entered correctly. This means that it appears as a built-in type in the XMI and IDL generated from the XMI is incorrect.

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 15:31 GMT
  • Updated: Mon, 13 Jul 2020 14:28 GMT

implementation defined is miss-spelled

  • Key: C2INAV-4
  • Status: open  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    The 'inherit' relation 'implementation defined' for navigation_report_kind_type is miss-spelled (missing first 'e').

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 15:35 GMT
  • Updated: Mon, 13 Jul 2020 14:28 GMT
  • Attachments:

Rotation should be about the centre of rotation not the platform reference point


Duplicate declaration from overloaded operation names



Unclear which OARIS files are required

  • Key: C2INAV-21
  • Status: open  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    Section 8.1 states that IDL files defined by OARIS, but referred to by this spec are in the OARIS distribution, but it does not specify which files. It would be helpful to do so.

  • Reported: C2INAV 1.0a1 — Mon, 11 May 2020 15:27 GMT
  • Updated: Mon, 13 Jul 2020 14:28 GMT

Type mismatch in reference to navigation_report_type


Only top-level attributes can be declared as keys for DDS topic types


All Ext child packages are in the same file


Add notes to the navigation_report_kind_type in the IDL/DDS PSM enum literals


navigation_report_type: composite_contributors needs a Length tag



Placement of surge,sway and heave within the spec

  • Key: C2INAV-43
  • Status: open  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    The inclusion of surge/sway/heave & the associated rates under Attitude::offset_report_type seemed slightly odd at first glance. I would have expected these to be more logically included as variations in Position, not attitude. (Albeit typically measured using a different frame of reference). But I can also see a counter-argument that says as surge/sway/heave are normally assessed in terms of current platform attitude, it’s a more logical place. I guess it comes down to whether you’re interested in position on a macro scale or a micro scale ? On the macro scale you probably don’t care so much about headings at all … on the micro scale you absolutely do. I don’t’ know whether the specs or their requirements make any indication about their intended use and associated limitations ?

  • Reported: C2INAV 1.0a1 — Thu, 14 May 2020 14:31 GMT
  • Updated: Mon, 13 Jul 2020 14:28 GMT

Depth Report not a specialisation of navigation_report_type

  • Key: C2INAV-17
  • Status: open  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    Unlike other reports from the Navigation subsystem a Depth Report does not inherit from navigation_report_type even though it should be qualified by the attributes of navigation_report_type.

  • Reported: C2INAV 1.0a1 — Mon, 11 May 2020 15:07 GMT
  • Updated: Mon, 13 Jul 2020 14:28 GMT
  • Attachments:

Circular dependency between modules Reporting and Attitude


Missing import statements



Strings should have a maximum size



offset_report_type is declared out of order

  • Key: C2INAV-11
  • Status: open  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    In Attitude.idl struct offset_report_type is declared out of order. This means that the DDS API does not cleanly generate.

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 19:07 GMT
  • Updated: Mon, 13 Jul 2020 14:28 GMT

Class version numbers are inappropriate

  • Key: C2INAV-8
  • Status: open  
  • Source: BAE SYSTEMS ( Simon Mettrick)
  • Summary:

    The Beta generation scheme included a version comment for each class. This is inappropriate as there isn't a sense in which classes can be independently versioned.

  • Reported: C2INAV 1.0a1 — Wed, 6 May 2020 15:51 GMT
  • Updated: Mon, 13 Jul 2020 14:28 GMT

Declaration of keys missing from IDL files