0x4803 - ReportRangeSensorData

Description

This message is sent by a receiving component upon receipt of a Query Range Sensor Data message. This message reports a list of detected data points for a given time. The RangeSensorDataSeq is used to report the data from a given sensor along with meta data such as sensor ID and timestamp. The timestamp defines the time at which the collected data was valid. Data points are defined by range, bearing and inclination with respect to either the native coordinate system or the vehicle coordinate system. Data is only reported for sensors which are in the active state. If data is queried for a sensor which is not active, the RangeSensorDataErrorRec is returned for that sensor ID report.

Structure

ReportRangeSensorData
 RangeSensorDataList
   RangeSensorDataVariant
     RangeSensorDataErrorRec
     RangeSensorDataSeq
       RangeSensorDataRec
       RangeSensorDataPointList
         RangeSensorDataPointRec

RangeSensorDataList

Type: List

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

RangeSensorDataVariant

Type: Variant

Index	Type
0	RangeSensorDataErrorRec
1	RangeSensorDataSeq

RangeSensorDataErrorRec

Type: Record

Field #	Field Name	Type	Units	Optional
1	SensorID			false
2	DataErrorCode	uint8	one	false
3	ErrorMessage			false

RangeSensorDataSeq

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	RangeSensorDataRec	RangeSensorDataRec	false
2	RangeSensorDataPointList	RangeSensorDataPointList	false

RangeSensorDataRec

Type: Record

Field #	Field Name	Optional
1	SensorID	false
2	ReportCoordinateSystem	false
3	TimeStamp	false

RangeSensorDataPointList

Type: List

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

RangeSensorDataPointRec

Type: Record

Field #	Field Name	Type	Units	Optional
1	PresenceVector	uint16
2	PointID	uint32	one	true
3	Range			false
4	RangeValidity	uint8	one	true
5	RangeErrorRMS	uint32	meter	true
6	Bearing			false
7	BearingValidity	uint8	one	true
8	BearingErrorRMS	uint32	radian	true
9	Inclination			false
10	InclinationValidity	uint8	one	true
11	InclinationErrorRMS	uint32	radian	true