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GeneralCommsChannel / ADAS

type 32, 33 and 34 - ADAS

MSG[0] = 102

MSG[1] = 13 (message length)

MSG[2] = 32 or 33 or 34 (message type)

Message 32 for start marker, 33 for end marker, 34 for collision

MSG[3, 4, 5] = Longitudinal distance to start/end/collision

                        Format: 24bit, big endian, unsigned integer
                        Units: Meters 
                        Scaling: 1000
                        Max value output: 1000m

MSG[6, 7, 8] = Lateral distance to start/end/collision

                        Format: 24bit, big endian, signed integer
                        Units: Meters 
                        Scaling: 1000
                        Max value output: +-100m
                        Polarity:            -ve: Target is/will be to left of vehicle at impact
                                                +ve: Target is/will be to right of vehicle at impact

MSG[9, 10, 11] = Direct distance to start/end/collision

                        Format: 24bit, big endian, unsigned integer 
                        Units: Meters
                        Scaling: 1000 
                        Max value output: 1000m

                        Note: This is the direct distance from the current rover location to the target centre, at the current target location (i.e. target movement ignored).

MSG[12, 13, 14] = direct time to start/end/collision

                        Format: 24bit, big endian, unsigned integer 
                        Units: Seconds
                        Scaling: 1000

MSG[15] = Checksum

Page last modified on June 25, 2018, at 02:47 PM