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
core:Management.READY	Execute requested stabilizer effort or position commands.
DEFAULT	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	Action
A	Query Stabilizer Capabilities Query Stabilizer Efforts Query Stabilizer Positions	Process message
B	Set Stabilizer Efforts Set Stabilizer Positions	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

Get:

location=stabilizerefforts, type=StabilizerEffortRecList
location=stabilizerpositions, type=StabilizerPositionRecList