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Home / Mobility_v1_0ServiceSet / SetLocalWaypoint

Message SetLocalWaypoint

Message ID: 040Dh

Description:
This message is used to set waypoint data based on the local coordinate system. A local waypoint can have up to six fields to describe it completely. The waypoint is defined in a local coordinate system using the X, Y, and Z 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, X, and Y) are required for each waypoint. The presence vector is used to specify if the remaining fields, i.e., Z, roll, pitch, and yaw, are used to further describe each 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: Z
Bit 1: Roll
Bit 2: Pitch
Bit 3: Yaw
Bit 4: WaypointTolerance
Bit 5: PathTolerance
2 X Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
3 Y Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
4 Z Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
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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