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Home / Mobility_v1_0ServiceSet / ReportGlobalPose

Message ReportGlobalPose

Message ID: 4402h

Description:
This message is used to provide the receiver the position and attitude of the platform. The position of the platform is given in latitude, longitude, and altitude, in accordance with the WGS 84 standard. All times are in Coordinated Universal Time (UTC). The message data and mapping of the presence vector for this message are identical to ID 0402h: SetGlobalPose.

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Short one false Bit 0: Latitude
Bit 1: Longitude
Bit 2: Altitude
Bit 3: PositionRms
Bit 4: Roll
Bit 5: Pitch
Bit 6: Yaw
Bit 7: AttitudeRms
Bit 8: TimeStamp
2 Latitude Scaled Integer
Integer Size: Unsigned Integer		 units degrees true Real Lower Limit: -90.0
Real Upper Limit: 90.0
3 Longitude Scaled Integer
Integer Size: Unsigned Integer		 units degrees true 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 PositionRms Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100.0
6 Roll Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
7 Pitch Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
8 Yaw Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
9 AttitudeRms Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: 0.0
Real Upper Limit: 3.141592653589793
10 TimeStamp TimeStamp true


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