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Home / Mobility_v1_0ServiceSet / SetGlobalWaypoint

Message SetGlobalWaypoint

Message ID: 040Ch

Description:
This message is used to set waypoint data based on the global coordinate system. A global waypoint can have up to six fields to describe it completely. The waypoint is defined in the global coordinate system using the latitude, longitude, and altitude, fields. The desired orientation of the platform at the waypoint is defined using the roll, pitch, and yaw fields. Only fields 1-3 (presence vector, latitude, and longitude) are required for each waypoint. Field #4 sets the desired Altitude in accordance with the WGS 84 standard. The presence vector is used to specify if the remaining fields, i.e., altitude, roll, pitch, and yaw, are used to further describe the waypoint and the desired orientation at that point.
Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: Altitude
Bit 1: Roll
Bit 2: Pitch
Bit 3: Yaw
Bit 4: WaypointTolerance
Bit 5: PathTolerance
2 Latitude Scaled Integer
Integer Size: Unsigned Integer		 units degrees false Real Lower Limit: -90.0
Real Upper Limit: 90.0
3 Longitude Scaled Integer
Integer Size: Unsigned Integer		 units degrees false Real Lower Limit: -180.0
Real Upper Limit: 180.0
4 Altitude Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -10000.0
Real Upper Limit: 35000.0
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
7 Yaw Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
8 WaypointTolerance Scaled Integer
Integer Size: Unsigned Short		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100.0
9 PathTolerance Scaled Integer
Integer Size: Unsigned Integer		 units one true A value of 0 is used for infinite tolerance.

Real Lower Limit: 0.0
Real Upper Limit: 100000.0


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