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 |