0x0423 - SetGlobalOperatingZone

Description

Set the operating zone for the vehicle using the global coordinate system. The operating polygon is represented by a list of latitude-longitude points and an optional pair of minimum-maximum altitudes or minimum-maximum depths. The polygon is closed by connecting the last point in the list of points that comprise the polygon to the first point. An optional list (length may be set to zero) of exclusion (keep-out) zones are represented as a list of polygons, where each polygon is a list of points. An Exclusion zone that does not specify a MinZPosition or MaxZPosition should be interpreted as being unrestrained in the respective Z direction.

Structure

SetGlobalOperatingZone
 GlobalOperatingZoneSeq
   GlobalOperatingZone
     GlobalPolygonPointRec
   GlobalExclusionZones
     GlobalExclusionZone
       GlobalExclusionZoneSeq
         GlobalExclusionZoneRec
         GlobalPolygonPointRec

GlobalOperatingZoneSeq

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	GlobalOperatingZone	GlobalOperatingZone	false
2	GlobalExclusionZones	GlobalExclusionZones	false

GlobalOperatingZone

Type: List

Element Type	Count Type	Min Count	Max Count
GlobalPolygonPointRec	uint8	0	255

GlobalPolygonPointRec

Type: Record

Field #	Field Name	Type	Optional
1	PresenceVector	uint8
2	Latitude		false
3	Longitude		false
4	MinZPosition		true
5	MaxZPosition		true

GlobalExclusionZones

Type: List

Element Type	Count Type	Min Count	Max Count
GlobalExclusionZone	uint8	0	255

GlobalExclusionZone

Type: List

Element Type	Count Type	Min Count	Max Count
GlobalExclusionZoneSeq	uint8	0	255

GlobalExclusionZoneSeq

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	GlobalExclusionZoneRec	GlobalExclusionZoneRec	false
2	GlobalPolygonPointRec	GlobalPolygonPointRec	false

GlobalExclusionZoneRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	ZoneID			false

GlobalPolygonPointRec

Type: Record

Field #	Field Name	Type	Optional
1	PresenceVector	uint8
2	Latitude		false
3	Longitude		false
4	MinZPosition		true
5	MaxZPosition		true