0x04AC - SetGlobalWaypointExt
Description
This message is used to set waypoint data based on the global coordinate system. A global waypoint can have up to six fields to describe it completely. The waypoint is defined in the global coordinate system using the latitude and longitude. The desired orientation of the platform at the waypoint is defined using the roll, pitch, and yaw fields. The remaining fields provide the desired waypoint and path tolerances. Only fields 1-3 (presence vector, latitude, and longitude) are required for each waypoint. An optional variable field is added for platforms to select altitude or depth. The presence vector is used to specify if the remaining fields, i.e., ZPosition, roll, pitch, and yaw, are used to further describe the waypoint and the desired orientation at that point and whether tolerances are provided. Note: Path Tolerances may be specified with a lower limit of zero (an unachievable tolerance), which implies a precise point. The reader is cautioned against specifiying a tolerance so small as to exceed the vehicle's cababilities.
Structure
SetGlobalWaypointExtGlobalWaypointExtRec
GlobalWaypointExtRec
Type: Record
| Field # | Field Name | Type | Units | Optional | Interpretation |
|---|---|---|---|---|---|
| 1 | PresenceVector | uint8 | |||
| 2 | Latitude | false | |||
| 3 | Longitude | false | |||
| 4 | ZPosition | true | |||
| 5 | Roll | uint16 | radian | true | |
| 6 | Pitch | uint16 | radian | true | |
| 7 | Heading | uint16 | radian | true | |
| 8 | WaypointTolerance | uint32 | meter | true | |
| 9 | PathTolerance | uint32 | meter | true |