OpenJAUS.com

This file is part of the OpenJAUS HTML JAUS Reference.
Please support AS-4 JAUS and SAE by purchasing the corresponding Standard Document(s) from SAE International here.
Home / Mobility_v1_0ServiceSet / SetLocalVector

Message SetLocalVector

Message ID: 0408h

Description:
This message is used to set the driving vector based on the local coordinate system. Field #2 sets the desired speed of the platform. The desired heading angle is set in field #4 and is defined in a right hand sense about the Z axis of the local coordinate system (the Z axis points downward) where zero degrees defines a heading that is parallel to the X axis of the local coordinate system.

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: Speed
Bit 1: Altitude
Bit 2: Heading
Bit 3: Roll
Bit 4: Pitch
2 Speed Scaled Integer
Integer Size: Unsigned Short		 units meters per second true Real Lower Limit: 0.0
Real Upper Limit: 327.67
3 Altitude Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -10000.0
Real Upper Limit: 35000.0
4 Heading Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
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


OpenJAUS.com

Copyright © SAE International. Reprinted with Permission.
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