0x0427 - SetLocalOperatingZone

Description

Set the operating zone for the vehicle using a local coordinate system. The operating polygon is represented by a list of points using the local coordinate system 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. Note that in some applications, particularly air and undersea, position may be a mix of local coordinates for XY position and absolute coordinates for Z/altitude/depth. This only applies if the Z axis for the vehicle coordinate frame is aligned with a vertical axis, e.g. a vector orthogonal to the ground plane. In all other cases, implementations must use Zlocal reporting only. For example, a UUV launched from a USV may need to navigate using local X/Y coordinates based on its launch point (using dead reckoning from its IMU) but rely on direct readings that do not suffer from drift for its Depth and/or Altitude ASF.

Structure

SetLocalOperatingZone
 LocalOperatingZoneSeq
   LocalOperatingZone
     LocalPolygonPointRec
   LocalExclusionZones
     LocalExclusionZone
       LocalExclusionZoneSeq
         LocalExclusionZoneRec
         LocalPolygonPointRec

LocalOperatingZoneSeq

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	LocalOperatingZone	LocalOperatingZone	false
2	LocalExclusionZones	LocalExclusionZones	false

LocalOperatingZone

Type: List

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

LocalPolygonPointRec

Type: Record

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

LocalExclusionZones

Type: List

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

LocalExclusionZone

Type: List

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

LocalExclusionZoneSeq

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	LocalExclusionZoneRec	LocalExclusionZoneRec	false
2	LocalPolygonPointRec	LocalPolygonPointRec	false

LocalExclusionZoneRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	ZoneID			false

LocalPolygonPointRec

Type: Record

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