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Message ReportAckermannConfiguration

Message ID: 4500h

Description:
Reports current Ackermann driver data

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: SteeringRate
Bit 1: SteeringTorque
2 SteeringAngle Scaled Integer
Integer Size: Unsigned Short
units radians false Real Lower Limit: -1.5707963267948966
Real Upper Limit: 1.5707963267948966
3 ThrottleEffort Scaled Integer
Integer Size: Unsigned Byte
units percent false Real Lower Limit: 0.0
Real Upper Limit: 100.0
4 BrakeEffort Scaled Integer
Integer Size: Unsigned Byte
units percent false Real Lower Limit: 0.0
Real Upper Limit: 100.0
5 SteeringRate Scaled Integer
Integer Size: Unsigned Short
units radians per second true The current rate of change in the steering angle. Negative values indicate the vehicle is trying to turn left.

Real Lower Limit: -32.767
Real Upper Limit: 32.768
6 SteeringTorque Scaled Integer
Integer Size: Unsigned Short
units newton meter true The current torque allowed to effect a change in steering angle, as experienced at the steering wheel. Negative values indicate the vehicle is trying to turn left.

Real Lower Limit: -500.0
Real Upper Limit: 500.0



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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 AS6091-UGV.ojss