0x4C41 - ReportPath

Description

This message is used to report a path. Implementations should attempt to satisfy all constraints specified in the QueryPath message.

Structure

ReportPath
 PathSeq
   PathRec
   PathVar
     InvalidRequestRec
     HistoricalGlobalPath
       ReportGlobalPoseExtRec
     HistoricalLocalPath
       ReportLocalPoseExtRec
     FutureGlobalPath
       ReportGlobalPoseExtRec
     FutureLocalPath
       ReportLocalPoseExtRec

PathSeq

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	PathRec	PathRec	false
2	PathVar	PathVar	false

PathRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	TimeSeconds	uint32	second	false	UTC POSIX-style time in seconds since 1 January 1970 when this data was considered valid
2	TimeNanoSeconds	uint32	one	false	Nanoseconds component of POSIX-style time when this data was considered valid

PathVar

Type: Variant

Index	Type
0	InvalidRequestRec
1	HistoricalGlobalPath
2	HistoricalLocalPath
3	FutureGlobalPath
4	FutureLocalPath

InvalidRequestRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	InvalidRequestType	uint8	one	false

HistoricalGlobalPath

Type: List

Element Type	Count Type	Min Count	Max Count
ReportGlobalPoseExtRec	uint16	0	65535

ReportGlobalPoseExtRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint16
2	Latitude	uint32	degree	false	Decimal degrees
3	Longitude	uint32	degree	false	Decimal degrees
4	AltitudeAGL	uint32	meter	true
5	AltitudeMSL	uint32	meter	true
6	AltitudeASF	uint32	meter	true
7	Depth	uint32	meter	true
8	XYPositionRMS	uint32	meter	true	An RMS value indicating the validity of the position data.
9	ZPositionRMS	uint32	meter	true	An RMS value indicating the validity of the position data.
10	Roll	uint16	radian	true
11	Pitch	uint16	radian	true
12	Heading	uint16	radian	true
13	Attitude_RMS	uint16	radian	true	An RMS value indicating the validity of the orientation data.
14	Course	uint16	radian	true
15	TimeSeconds	uint32	second	false	UTC POSIX-style time in seconds since 1 January 1970
16	TimeNanoSeconds	uint32	one	false	Nanoseconds component of POSIX-style time

HistoricalLocalPath

Type: List

Element Type	Count Type	Min Count	Max Count
ReportLocalPoseExtRec	uint16	0	65535

ReportLocalPoseExtRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint16
2	X	uint32	meter	true
3	Y	uint32	meter	true
4	AltitudeAGL	uint32	meter	true
5	AltitudeMSL	uint32	meter	true
6	AltitudeASF	uint32	meter	true
7	Depth	uint32	meter	true
8	ZLocal	uint32	meter	true
9	XYPositionRMS	uint32	meter	true	An RMS value indicating the validity of the position data.
10	ZPositionRMS	uint32	meter	true	An RMS value indicating the validity of the position data.
11	Roll	uint16	radian	true
12	Pitch	uint16	radian	true
13	Heading	uint16	radian	true
14	Attitude_RMS	uint16	radian	true	An RMS value indicating the validity of the orientation data.
15	Course	uint16	radian	true
16	TimeSeconds	uint32	second	false	UTC POSIX-style time in seconds since 1 January 1970
17	TimeNanoSeconds	uint32	one	false	Nanoseconds component of POSIX-style time

FutureGlobalPath

Type: List

Element Type	Count Type	Min Count	Max Count
ReportGlobalPoseExtRec	uint16	0	65535

ReportGlobalPoseExtRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint16
2	Latitude	uint32	degree	false	Decimal degrees
3	Longitude	uint32	degree	false	Decimal degrees
4	AltitudeAGL	uint32	meter	true
5	AltitudeMSL	uint32	meter	true
6	AltitudeASF	uint32	meter	true
7	Depth	uint32	meter	true
8	XYPositionRMS	uint32	meter	true	An RMS value indicating the validity of the position data.
9	ZPositionRMS	uint32	meter	true	An RMS value indicating the validity of the position data.
10	Roll	uint16	radian	true
11	Pitch	uint16	radian	true
12	Heading	uint16	radian	true
13	Attitude_RMS	uint16	radian	true	An RMS value indicating the validity of the orientation data.
14	Course	uint16	radian	true
15	TimeSeconds	uint32	second	false	UTC POSIX-style time in seconds since 1 January 1970
16	TimeNanoSeconds	uint32	one	false	Nanoseconds component of POSIX-style time

FutureLocalPath

Type: List

Element Type	Count Type	Min Count	Max Count
ReportLocalPoseExtRec	uint16	0	65535

ReportLocalPoseExtRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint16
2	X	uint32	meter	true
3	Y	uint32	meter	true
4	AltitudeAGL	uint32	meter	true
5	AltitudeMSL	uint32	meter	true
6	AltitudeASF	uint32	meter	true
7	Depth	uint32	meter	true
8	ZLocal	uint32	meter	true
9	XYPositionRMS	uint32	meter	true	An RMS value indicating the validity of the position data.
10	ZPositionRMS	uint32	meter	true	An RMS value indicating the validity of the position data.
11	Roll	uint16	radian	true
12	Pitch	uint16	radian	true
13	Heading	uint16	radian	true
14	Attitude_RMS	uint16	radian	true	An RMS value indicating the validity of the orientation data.
15	Course	uint16	radian	true
16	TimeSeconds	uint32	second	false	UTC POSIX-style time in seconds since 1 January 1970
17	TimeNanoSeconds	uint32	one	false	Nanoseconds component of POSIX-style time