Stabilizer Driver

11.Stabilizer Driver

The Stabilizer Driver commands the stabilizers of the mobility system. The stabilizers can be controlled either by efforts or positions, depending on the stabilizer mode of the set drive configuration to the Drive Configuration service.

Require: core:AccessControl
Inherit from: core:Management

11.1 Service Behavior

11.1.1 State Diagram

  Figure 10 Stabilizer Driver State Diagram

11.1.2 State Actions

State Actions
  • Execute requested stabilizer effort or position commands.
  • Report commanded efforts and current positions of the stabilizers.

11.1.3 Internal Events

Event Parameters Purpose
ieReceiveMessage Message received

11.1.4 Transitions

Transition Trigger Condition Action
A Query Stabilizer
Query Stabilizer Efforts
Query Stabilizer Positions
Process message
B Set Stabilizer Efforts
Set Stabilizer
Process message
C Management exits READY state Reset commanding efforts to safe efforts and stop position request.

11.2 Protocol

11.2.1 Incoming Message Set

# ID Message
1 H:0x00000001
L: 0x00000217
Query Stabilizer Capabilities
2 H:0x00000001
L: 0x00000219
Set Stabilizer Efforts
3 H:0x00000001
L: 0x0000021A
Query Stabilizer Efforts
4 H:0x00000001
L: 0x0000021C
Set Stabilizer Positions
5 H:0x00000001
L: 0x0000021D
Query Stabilizer Positions

11.2.2 Outgoing Message Set

# ID Message
1 H:0x00000001
L: 0x00000218
Report Stabilizer Capabilities
2 H:0x00000001
L: 0x0000021B
Report Stabilizer Efforts
3 H:0x00000001
L: 0x0000021E
Report Stabilizer Positions

11.3 Parameters


    1. CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
    2. DATATIMEOUT double, timeout in seconds for not receiving stabilizer efforts updates, default=0.5.
    3. CAPABILITIES list of StabilizerCapabilityRec

11.4 Data


  1. location=stabilizerefforts, type=StabilizerEffortRecList
  2. location=stabilizerpositions, type=StabilizerPositionRecList