Measurement speed lever arm (0x0D,0x61)
| Description |
Lever arm offset for speed measurements. |
|
| Notes |
This is used to compensate for an off-center measurement point having a different speed due to rotation of the vehicle. The typical use case for this would be an odometer attached to a wheel on a standard 4-wheeled vehicle. If the odometer is on the left wheel, it will report higher speed on right turns and lower speed on left turns. This is because the outside edge of the curve is longer than the inside edge. |
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| Parameter Name | Data Type | Description |
| Field Length | u8 | 4 |
| Descriptor | u8 | 0x61 |
| Function Selector | u8 |
This command supports the following MIP function selectors:Write Read Save Load Default
[WRSLD]
|
Source
[WRSLD]
|
u8 | Reserved, must be 1. |
Lever Arm Offset
[W]
|
vector3f | [m] Lever arm offset vector in the vehicle's reference frame. |
| Response Data | Data Type | Description |
| Response Length | u8 | 3 |
| Response Descriptor | u8 | 0xE1 |
| Source | u8 | Reserved, must be 1. |
| Lever Arm Offset | vector3f | [m] Lever arm offset vector in the vehicle's reference frame. |