0x4C52 - ReportRetrotraverseStatus

Description

This message is used to report the current status of retrotraverse. It first reports the original Retroreverse parameters and then reports current status and progress.

Structure

ReportRetrotraverseStatus
 RetrotraverseParameterSeq
   RetrotraverseRec
   RetrotraverseVar
     DistanceRec
     GlobalWaypointExtRec
     LocalWaypointExtRec
   StatusRec

RetrotraverseParameterSeq

Type: Sequence

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

RetrotraverseRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	MaxSpeed			false	The maximum traversal speed. A value of zero means the vehicle should not exceed the speed of original travel.
2	Parameters	uint8		false
3	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	RequestedDistance	uint32	meter	false	Requested 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

StatusRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint8
2	Status	uint8	one	false	Enumeration of retrotraverse status.
3	PercentComplete	uint16	percent	true	Current percent complete for currently active retrotraverse, based on the distance travelled and distance requested. If no retrotraverse is active (status=0), this field shall be absent from the message.