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LocalVectorDriver

Description

The Local Vector Driver performs closed loop control of the desired local heading (yaw), pitch, roll, altitude or depth, and speed of a mobile platform. The Local Vector Driver is very similar in function to the Global Vector Driver, the difference being that the desired yaw is defined in terms of a local coordinate system as opposed to the global coordinate system. Note that the new Ext messages support different values for course and heading (yaw) for holonomic systems that allow such configurations.Vehicles may be controlled by specifying the desired altitude with respect to the ground or 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 LocalVectorDriver service uses the following messages.

Internal Events

  • None