Acceleration State Sensor

6.Acceleration State Sensor

The Acceleration State Sensor service reports the accelerations of the mobility system.

Require: none
Inherit from: none

6.1 Service Behavior

6.1.1 State Diagram

  Figure 5 Acceleration State Sensor State Diagram

6.1.2 State Actions

State Actions
  • Report accelerations of the mobility base system.

6.1.3 Internal Events

Event Parameters Purpose
ieReceiveMessage Message received

6.1.4 Transitions

Transition Trigger Condition Action
A ieReceiveMessage Process received messages

6.2 Protocol

6.2.1 Incoming Message Set

# ID Message
1 H:0x00000001 L:0x00000209 Query Acceleration State

6.2.2 Outgoing Message Set

# ID Message
1 H:0x00000001
L: 0x0000020A
Report Acceleration State

6.3 Parameters


    1. CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
    2. DATATIMEOUT double, timeout in seconds for not receiving acceleration state updates, default=0.5.

6.4 Data


  1. location= accelerationstate, type= AccelerationStateRec