7Waypoint; 8Combined Accelerate/Turn; 9Combined Accelerate/Turn/Climb - Jackson Labs RSR GNSS Transcoder User Manual

RSR GNSS Transcoder™ User Manual
4.3.21.7 Waypoint
The Waypoint command specifies a final position and heading with changes in heading at a specified
lateral acceleration at the current speed.
The format of this command is:
WAYPT,<latitude>,<longitude>,<altitude>,<final heading>,<lateral acceleration>
where
<latitude> is in degrees,
<longitude> is in degrees,
<altitude> is in m above the ellipsoid,
<final heading> is degrees from north,
<lateral acceleration> is in m/s
As of the release of this manual Motion Control Language commands are not supported. Future
releases of the RSR GNSS Transcoder™ firmware will included support for the Motion Control
Language.
4.3.21.8 Combined Accelerate/Turn
The Combined Accelerate/Turn command specifies motion at a constant altitude at the current
speeds that is a combination of accelerating linearly and turning. The parameters specified are
heading change, lateral acceleration and change in speed. Since with a constant lateral acceleration,
the turning radius is affected by the current speed and the current speed is changing with acceleration,
the turning radius will also vary. The time required to complete the motion command is determined
by the time required to complete the turn.
The format of this command is:
ACCEL-TURN,<heading change>,<lateral acceleration>,<change in speed>
where
<heading change> is in degrees,
<lateral acceleration> is in g (1 g = 9.81 m/s
<change in speed> is in m/s.
As of the release of this manual Motion Control Language commands are not supported. Future
releases of the RSR GNSS Transcoder™ firmware will included support for the Motion Control
Language.
4.3.21.9 Combined Accelerate/Turn/Climb
The Combined Accelerate/Turn/Climb command specifies motion that is a combination of
accelerating linearly, turning and climbing. The parameters specified are heading change, lateral
acceleration, height change, height rate and lateral acceleration.
The format of this command is:
ACCEL-TURN-CLIMB,<heading change>,<lateral acceleration>,<height change>,<height
rate>,<lateral acceleration>
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