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0x4425 - ReportGlobalLoiter

Description

This message is used to provide the receiver with the current values of the safety zones. The message data for this message are identical to the ID 0425h: SetGlobalLoiter message.

Structure

ReportGlobalLoiter
 GlobalLoiterSpecification
   GlobalLoiterRec
   Loiter
     HoverRec
     PolygonRec
     RaceTrackRec

GlobalLoiterSpecification

Type: Sequence

Field # Field Name Type Optional Interpretation
1 GlobalLoiterRec GlobalLoiterRec false
2 Loiter Loiter false

GlobalLoiterRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint8
2 Latitude false
3 Longitude false
4 ZPosition true

Loiter

Type: Variant

Index Type
0 HoverRec
1 PolygonRec
2 RaceTrackRec

HoverRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 HoverPreference uint8 one false
2 XYTolerance uint32 meter false
3 ZTolerance uint32 meter false

PolygonRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 NumberLoiterVertices uint8 one false Number of vertices in loiter convex, regular polygon 0 and 1 are a circular loiter; 2 forms a linear loiter
2 XYExtent uint32 meter false Distance from loiter reference position to polygon vertices
3 LoiterDirection uint8 one false
4 LoiterBearing uint16 radian false Angular offset clockwise from North about Z-axis from the loiter reference position to the first vertex of the polygon; a value of zero for a 4-vertex polygon would create a diamond while a value of PI/4 would create a square

RaceTrackRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 LoiterType uint8 one false
2 LoiterRadius uint32 meter false Width (smaller distance) of racetrack or figure 8
3 LoiterLength uint32 meter false Length (larger distance) of racetrack or figure 8
4 LoiterDirection uint8 one false
5 LoiterBearing uint16 radian false Angular offset of the length axis clockwise from North about Z-axis; a value of zero would orient the LoiterLength in the North-South direction while a value of PI/2 would orient it in the East-West direction.