0x4500 - ReportAckermannConfiguration

Description

Reports current Ackermann driver data

Structure

ReportAckermannConfiguration
 AckermannDataRec

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint8
2	SteeringAngle	uint16	radian	false	The desired effective steering angle of the vehicle, as measured by a virtual wheel at the center of the front axle. Negative values cause the platform to turn left; positive values cause the vehice to turn right. Control systems that attach directly to the steering wheel/column may need to convert this value to a steering wheel position that achieves the desired steering angle.
3	ThrottleEffort	uint16	one	false	As a percent of maximum.
4	BrakeEffort	uint16	one	false	As a percent of maximum.
5	SteeringRate	uint16	radian per second	true	The current rate of change in the steering angle. Negative values indicate the vehicle is trying to turn left.
6	SteeringTorque	uint16	newton meter	true	The current torque allowed to effect a change in steering angle, as experienced at the steering wheel. Negative values indicate the vehicle is trying to turn left.