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Home / Iop_v3ServiceSet / SetFollowerConfiguration

Message SetFollowerConfiguration

Message ID: FFF2h

Description:
This message sets the configuration for the follower. The leader is specified by an optional JAUS identifier that refers to a Global Pose Sensor Service hosted by the leader; if this JAUS identifier is not specified, the leader is assumed to be known a priory by the service. The optional offset values specify the follow behavior such that MinimumFollowDistance and MaximumFollowDistance represents the safe operating range along the path and LagTime represents the delay, in seconds, that the follower should maintain from the leader. Additional values allow for more complex convoy configurations and are defined with respect to the path of the lead vehicle; the LateralOffset refers to the distance from the path in the ground plane, while VerticalOffset refers to the heigh above or below the path measured tangentially to the ground plane. Alternatively, the VerticalOffset value can be an absolute measure of the desired altitude with respect to Mean Sea Level (MSL), the Ground Level (AGL), or the Sea Floor (ASL). When not explicitly specified in the message, the offset values are assumed to be equal to the relative position of the follower with respect to the leader at the time the SetFollowerState('START') is received. Any specified offset values that cannot be satisfied due to physical constraints, such as Z-offset in a ground system or orientation in a fixed wing aircraft, shall be ignored. This message may also contain optional maximum error values for each offset dimension. When the follower error exceeds these bounds, the follower should stop and may also stop the lead vehicle if the appropriate flag is set in the ErrorBehavior bitfield. If the ALLOW_LEADER_OVERRIDE bit is set, the follower may attempt to slow down or speed up the lead vehicle prior to exceeding the error bounds. If the error values are not specified in the message, they are assumed to be infinite.

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Short one false Bit 0: Leader_ID
Bit 1: ErrorBehavior
Bit 2: LagTime
Bit 3: MinimumFollowDistance
Bit 4: MaximumFollowDistance
Bit 5: LateralOffset
Bit 6: MaxLateralError
Bit 7: VerticalOffset
Bit 8: MaxVerticalError
Bit 9: VerticalOffsetType
Bit 10: Roll
Bit 11: Max_Roll_Error
Bit 12: Pitch
Bit 13: Max_Pitch_Error
Bit 14: Heading
Bit 15: Max_Heading_Error
2 Leader_ID BitField
Integer Size: Unsigned Integer		 one true [0, 7] : ComponentID (range: 1 ... 254)
[8, 15] : NodeID (range: 1 ... 254)
[16, 31] : SubsystemID (range: 1 ... 65534)
3 ErrorBehavior BitField
Integer Size: Unsigned Byte		 one true [0, 0] : STOP_LEADER (range: 0 ... 1)
[1, 1] : ALLOW_LEADER_OVERRIDE (range: 0 ... 1)
4 LagTime Scaled Integer
Integer Size: Unsigned Integer		 units second true Real Lower Limit: 0.0
Real Upper Limit: 3600.0
5 MinimumFollowDistance Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100000.0
6 MaximumFollowDistance Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100000.0
7 LateralOffset Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
8 MaxLateralError Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100000.0
9 VerticalOffset Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
10 MaxVerticalError Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100000.0
11 VerticalOffsetType Enumeration
Integer Size: Unsigned Byte		 one true Enumeration Values:
0: DEPTH_MSL
1: DEPTH_AGL
2: DEPTH_ASF
3: RELATIVE_DEPTH
12 Roll Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
13 Max_Roll_Error Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: 0.0
Real Upper Limit: 6.283185307179586
14 Pitch Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
15 Max_Pitch_Error Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: 0.0
Real Upper Limit: 6.283185307179586
16 Heading Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
17 Max_Heading_Error Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: 0.0
Real Upper Limit: 6.283185307179586


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Generated on 07/17/2019 from iop_v3.ojss