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Home / Iop_v3ServiceSet / ReportFollowerConfiguration

Message ReportFollowerConfiguration

Message ID: FFF4h

Description:
Reports the follower configuration in response to a Query Follower Configuration message.

ReportFollowerConfiguration
FollowerStateRec
FollowerConfigurationRec

Message Format
Field # Field Type Units Optional Interpretation
1 FollowerStateRec Record false
2 FollowerConfigurationRec Record false


FollowerStateRec
Field # Field Type Units Optional Interpretation
1 State Enumeration
Integer Size: Unsigned Byte		 one false Enumeration Values:
0: STOP
1: START


FollowerConfigurationRec
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Short one false Bit 0: Leader_ID
Bit 1: ErrorBehavior
Bit 2: LagTime
Bit 3: MinimumFollowDistance
Bit 4: MaximumFollowerDistance
Bit 5: LateralOffset
Bit 6: MaxLateralError
Bit 7: VerticalOffset
Bit 8: MaxVerticalError
Bit 9: VerticalOffsetType
Bit 10: Roll
Bit 11: Max_Roll_Error
Bit 12: Pitch
Bit 13: Max_Pitch_Error
Bit 14: Heading
Bit 15: Max_Heading_Error
2 Leader_ID BitField
Integer Size: Unsigned Integer		 one true [0, 7] : ComponentID (range: 1 ... 254)
[8, 15] : NodeID (range: 1 ... 254)
[16, 31] : SubsystemID (range: 1 ... 65534)
3 ErrorBehavior BitField
Integer Size: Unsigned Byte		 one true [0, 0] : STOP_LEADER (range: 0 ... 1)
[1, 1] : ALLOW_LEADER_OVERRIDE (range: 0 ... 1)
4 LagTime Scaled Integer
Integer Size: Unsigned Integer		 units second true Real Lower Limit: 0.0
Real Upper Limit: 3600.0
5 MinimumFollowDistance Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100000.0
6 MaximumFollowerDistance Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100000.0
7 LateralOffset Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
8 MaxLateralError Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100000.0
9 VerticalOffset Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
10 MaxVerticalError Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100000.0
11 VerticalOffsetType Enumeration
Integer Size: Unsigned Byte		 one true Enumeration Values:
0: DEPTH_MSL
1: DEPTH_AGL
2: DEPTH_ASF
3: RELATIVE_DEPTH
12 Roll Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
13 Max_Roll_Error Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: 0.0
Real Upper Limit: 6.283185307179586
14 Pitch Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
15 Max_Pitch_Error Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: 0.0
Real Upper Limit: 6.283185307179586
16 Heading Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
17 Max_Heading_Error Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: 0.0
Real Upper Limit: 6.283185307179586


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