Skip to content

0x0C50 - StartRetrotraverse

Description

This message is used to begin a retrotraverse operation. The end point may be specified as a total distance to travel, or by specifying a point along the travelled path.

Structure

StartRetrotraverse
 RetrotraverseParameterSeq
   RetrotraverseRec
   RetrotraverseVar
     DistanceRec
     GlobalWaypointExtRec
     LocalWaypointExtRec

RetrotraverseParameterSeq

Type: Sequence

Field # Field Name Type Optional Interpretation
1 RetrotraverseRec RetrotraverseRec false
2 RetrotraverseVar RetrotraverseVar false

RetrotraverseRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 RequestID uint8 one false Local RequestID to be returned in StartRetrotraverseResponse, used for coordinating requests and responses.
2 MaxSpeed false The maximum traversal speed. A value of zero means the vehicle should not exceed the speed of original travel.
3 Parameters uint8 false
4 StandoffDistance uint32 meter false Exclusion radius around the destination point. The vehicle may not approach closer than this distance. The exact behavior may depend on the capabilities of the platform. For example, ground vehicles may stop completely at the edge of this exclusion zone, while fixed wing aircraft might loiter treating it as a no-go zone.

RetrotraverseVar

Type: Variant

Index Type
0 DistanceRec
1 GlobalWaypointExtRec
2 LocalWaypointExtRec

DistanceRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 Distance uint32 meter false Distance along the path to retrotraverse.

GlobalWaypointExtRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint8
2 Latitude uint32 degree false Decimal degrees
3 Longitude uint32 degree false Decimal degrees
4 ZPosition true
5 Roll uint16 radian true
6 Pitch uint16 radian true
7 Heading uint16 radian true
8 WaypointTolerance uint32 meter true As defined in AS6009
9 PathTolerance uint32 meter true As defined in AS6009

LocalWaypointExtRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint8
2 X uint32 meter false
3 Y uint32 meter false
4 ZPosition true
5 Roll uint16 radian true
6 Pitch uint16 radian true
7 Heading uint16 radian true
8 WaypointTolerance uint32 meter true As defined in AS6009
9 PathTolerance uint32 meter true As defined in AS6009