vehicleError VehicleError OPTIONAL, -- Optional error information. Depending on the given error, the infrastructure either tries to resolve the issue or aborts the mission.
operationMode VehicleOperationModeEnum, -- The current operation mode or state of the vehicle.
vehicleAutorizationState VehicleAuthorizationEnum, -- The current authorization/vehicle identification state
drivingDirection DrivingDirectionEnum, -- Direction in which the vehicle is currently driving or about to drive.
gearSelected SelectGearEnum, -- Direction in which the vehicle is currently driving or about to drive.
currentVelocity MetrePerSecond16, -- Current vehicle velocity. Negative when driving backwards.
currentCurvature PerMetre16, -- Current vehicle curvature.
secureStandstill BOOLEAN, -- True if the vehicle is currently in secure standstill (i.e. standstill and secured against rolling, even when vehicle is powered down and even on ramps).
@@ -48,6 +45,12 @@ VehicleDebug ::= SEQUENCE {
powertrainActive BOOLEAN -- True if the power train is active, e.g. the engine is running/e-motor ready.
}
Pose ::= SEQUENCE {
x Metre20,
y Metre20,
psi Radian16
}
-- *************** DATA DICTONARY ************************************
UInt8 ::= INTEGER (0..255)
@@ -65,13 +68,7 @@ Radian16 ::= UInt16 -- [1] 0.0001 Range: from 0 to 2*pi
Millisecond16 ::= Int16 -- [ms] 1
Millisecond42 ::= UInt42 -- [ms] 1 Range for TimestampIts ::= INTEGER {utcStartOf2004(0), oneMillisecAfterUTCStartOf2004(1)} (0..4398046511103). Leap seconds are counted, unlike Unix-time
Pose ::= SEQUENCE {
x Metre20,
y Metre20,
psi Radian16
}
DrivingDirectionEnum ::= ENUMERATED {
SelectGearEnum ::= ENUMERATED {
neutral(0), -- N: Neutral / Driving direction is unknown
