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Home / MobilityServiceSet / VelocityStateDriver


Version: 1.0
ID: urn:jaus:jss:mobility:VelocityStateDriver
Inherits From:
extended byurn:jaus:jss:core:Management v1.1
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The Velocity State Driver allows for low level control of platform mobility. This service does not imply any particular platform type such as tracked or wheeled, but describes mobility in six degrees of freedom using velocity commands relative to the vehicle's coordinate system. The function of the Velocity State Driver service is to control the desired linear and angular velocity of a mobile platform. The Velocity State Driver takes the desired velocity as measured with respect to the vehicle coordinate system.

Internal Event Set

Message Set
Message ID Name
2416h QueryAccelerationLimit
2415h QueryVelocityCommand
4416h ReportAccelerationLimit
4415h ReportVelocityCommand
0416h SetAccelerationLimit
0415h SetVelocityCommand

State Machine Diagram

VelocityStateDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B VsdControlledLoop SetVelocityCommand !isCurrentVelocityCmd && isControllingClient setVelocityLimit
SetAccelerationLimit isControllingClient setAccelerationLimit
A VsdDefaultLoop QueryVelocityCommand sendReportVelocityCommand
QueryAccelerationLimit sendReportAccelerationLimit
C VsdReadyLoop SetVelocityCommand isControllingClient && isCurrentVelocityCmd setCurrentVelocityCommand

Action Name Type Description
resetCmdVelocityToDefault Exit Action
sendReportAccelerationLimit Send Action Output Message: ReportAccelerationLimit
sendReportVelocityCommand Send Action Output Message: ReportVelocityCommand

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Portions Copyright © OpenJAUS LLC.
The information above is generated from the JAUS Services modelled in the OpenJAUS SDK using OpenJAUS Service Studio. It is provided as a resource to assist JAUS developers and is not a substitute for the JAUS Standards Documents which may be obtained from the SAE International.

Generated on 09/11/2015 from AS6009-Mobility.ojss