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Home / MobilityServiceSet / SetGlobalVector

Message SetGlobalVector

Message ID: 0407h

Description:
This message is used to set the driving vector based on the global coordinate system. Field #2 sets the desired speed of the platform. The desired heading angle is set in field #4 and is defined in a right hand sense about the Z axis of the global coordinate system (the Z axis points downward) where North is defined as zero degrees. Field #3 sets the desired Altitude in accordance with the WGS 84 standard. The desired roll angle is set in field #5 and is also defined in a right hand sense about the X axis of the global coordinate system. The desired pitch angle is set in field #6 in a right hand sense about the Y axis.

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: Speed
Bit 1: Altitude
Bit 2: Heading
Bit 3: Roll
Bit 4: Pitch
2 Speed Scaled Integer
Integer Size: Unsigned Short
units meters per second true Real Lower Limit: 0.0
Real Upper Limit: 327.67
3 Altitude Scaled Integer
Integer Size: Unsigned Integer
units meter true Real Lower Limit: -10000.0
Real Upper Limit: 35000.0
4 Heading Scaled Integer
Integer Size: Unsigned Short
units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
5 Roll Scaled Integer
Integer Size: Unsigned Short
units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
6 Pitch Scaled Integer
Integer Size: Unsigned Short
units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793



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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 AS6009-Mobility.ojss