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Home / Mobility_v1_0ServiceSet / ReportLocalPose

Message ReportLocalPose

Message ID: 4403h

Description:
This message is used to provide the receiver the position and attitude of the platform relative to a local reference frame. All times are in Coordinated Universal Time (UTC). The message data and mapping of the presence vector for this message are identical to ID 0403h: SetLocalPose.

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Short one false Bit 0: X
Bit 1: Y
Bit 2: Z
Bit 3: PositionRms
Bit 4: Roll
Bit 5: Pitch
Bit 6: Yaw
Bit 7: AttitudeRms
Bit 8: TimeStamp
2 X Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
3 Y Scaled Integer
Integer Size: Unsigned Integer		 units meter true 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 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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