0x04A7 - SetGlobalVectorExt
Description
This message is used to set the driving vector based on the global coordinate system. Field #2 sets the desired speed of the platform. It uses a variable field allowing platforms to select various methods for specifying speed. Field #3 sets the desired Z position. It uses a variable field allowing platforms to select various methods for specifying altitude or depth. The desired heading (yaw) angle is set in field #4; however, field #7 supports a different value for course (the true direction of travel) which may be different for holonomic systems The orientation is defined as per Section 3.1.
Structure
SetGlobalVectorExtGlobalVectorExtRec
GlobalVectorExtRec
Type: Record
| Field # | Field Name | Type | Units | Optional | Interpretation |
|---|---|---|---|---|---|
| 1 | PresenceVector | uint8 | |||
| 2 | Speed | false | |||
| 3 | ZPosition | true | |||
| 4 | Roll | uint16 | radian | true | |
| 5 | Pitch | uint16 | radian | true | |
| 6 | Heading | uint16 | radian | true | |
| 7 | Course | uint16 | radian | true |