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Home / Mobility_v1_0ServiceSet / GlobalVectorDriver


Version: 1.0
ID: urn:jaus:jss:mobility:GlobalVectorDriver
Inherits From:
extended byurn:jaus:jss:core:Management v1.1
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The function of the Global Vector Driver is to perform closed loop control of the desired global heading, altitude and speed of a mobile platform. The Global Vector Driver takes the desired heading of the platform as measured with respect to the global coordinate system and the desired speed of the platform. The desired heading angle 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. The desired Altitude, measured in accordance with the WGS 84 standard, provides a means through which systems capable of flight can be controlled. For ground-based systems, the Altitude field is ignored. The Global Vector Driver also receives data from the Global Pose Sensor and the Velocity State Sensor. This information allows the Global Vector Driver to perform closed loop control on the platform's global heading, altitude and speed.

Internal Event Set

Message Set
Message ID Name
2407h QueryGlobalVector
4407h ReportGlobalVector
0407h SetGlobalVector

State Machine Diagram

GlobalVectorDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A GlobalVectorDefaultLoop QueryGlobalVector sendReportGlobalVector
B GlobalVectorReadyLoop SetGlobalVector isControllingClient setGlobalVector

Action Name Type Description
sendReportGlobalVector Send Action Send a Report Global Vector message.
Output Message: ReportGlobalVector

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Portions Copyright © OpenJAUS LLC.
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 07/17/2019 from as6009-mobility.ojss