0x0425 - SetGlobalLoiter

Description

This message is used to command the vehicle to loiter about a desired position in the global reference frame. All times are in Coordinated Universal Time (UTC).

Structure

SetGlobalLoiter
 GlobalLoiterSpecification
   GlobalLoiterRec
   Loiter
     HoverRec
     PolygonRec
     RaceTrackRec

GlobalLoiterSpecification

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	GlobalLoiterRec	GlobalLoiterRec	false
2	Loiter	Loiter	false

GlobalLoiterRec

Type: Record

Field #	Field Name	Type	Optional
1	PresenceVector	uint8
2	Latitude		false
3	Longitude		false
4	ZPosition		true

Loiter

Type: Variant

Index	Type
0	HoverRec
1	PolygonRec
2	RaceTrackRec

HoverRec

Type: Record

Field #	Field Name	Type	Units	Optional
1	HoverPreference	uint8	one	false
2	XYTolerance	uint32	meter	false
3	ZTolerance	uint32	meter	false

PolygonRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	NumberLoiterVertices	uint8	one	false	Number of vertices in loiter convex, regular polygon 0 and 1 are a circular loiter; 2 forms a linear loiter
2	XYExtent	uint32	meter	false	Distance from loiter reference position to polygon vertices
3	LoiterDirection	uint8	one	false
4	LoiterBearing	uint16	radian	false	Angular offset clockwise from North about Z-axis from the loiter reference position to the first vertex of the polygon; a value of zero for a 4-vertex polygon would create a diamond while a value of PI/4 would create a square

RaceTrackRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	LoiterType	uint8	one	false
2	LoiterRadius	uint32	meter	false	Width (smaller distance) of racetrack or figure 8
3	LoiterLength	uint32	meter	false	Length (larger distance) of racetrack or figure 8
4	LoiterDirection	uint8	one	false
5	LoiterBearing	uint16	radian	false	Angular offset of the length axis clockwise from North about Z-axis; a value of zero would orient the LoiterLength in the North-South direction while a value of PI/2 would orient it in the East-West direction.