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0x04A8 - SetLocalVectorExt

Description

This message is used to set the driving vector based on the local 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

SetLocalVectorExt
 LocalVectorExtRec

LocalVectorExtRec

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