Skip to content

GlobalVectorDriver

Description

The function of the Global Vector Driver is to perform closed loop control of the desired global yaw, roll, pitch, altitude or depth, and the speed of a mobile platform. The Global Vector Driver takes the desired heading (yaw) of the platform as measured with respect to the global coordinate system and the desired speed of the platform. Note that the new Ext messages support different values for course and heading (yaw) for holonomic systems that allow such configurations.The desired Altitude, measured in accordance with the WGS 84 standard, provides a means through which systems capable of flight can be controlled. Vehicles also may be controlled by specifying the desired altitude with respect to Mean Sea Level. Submersible vehicles may be controlled by specifying the desired Depth or Altitude ASF. For ground-based systems, the Altitude field is optional. The speed of the vehicle can be expressed as either Speed over Ground or Speed Relative to Medium.

Messages

The GlobalVectorDriver service uses the following messages.

Internal Events

  • None