1   Definition

An AMS-MAS Messages request the Motion Actuation Subsystem (MAS) to execute, suspend, or resume a Trajectory.

2   Functional Requirements

The AMS-MAS Message pass the following data to the MAS:

Trajectory

Action

  1. Execute the Trajectory to change the CAV’s Spatial Attitude SAA at time tA to Spatial Attitude SAB at time tB.
  2. Suspend the Execute
  3. Resume the Execute

3   Syntax

https://schemas.mpai.community/OSD/V1.1/data/Time.json

https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json

4   Semantics

Label Size Description
Header N1 Bytes
·         Standard 8 Bytes The characters “CAV-AMM”
·         Version N2 Bytes Major version – 1 or 2 Bytes
·         Dot-separator 1 Byte The character “.”
·         Subversion N3 Bytes Minor version – 1 or 2 Bytes
AMSMASMessageID N4 Bytes Identifier of AMS-MAS Message.
AMSMASMessageData N4 Bytes Data in AMS-MAS Message.
·         Duration N5 Bytes Duration the Message applies to.
·         SpatialAttitude N6 Bytes
·         TrajectoryID N7 Bytes ID of Trajectory
·         Command N8 Bytes One of Execute or Suspend
DescrMetadata N9 Bytes Descriptive Metadata

5   Data Formats and Attributes

No Formats required.

6   To Respondents

Respondents are requested to comment on or extend or reformulate the functional requirements of the AMS-MAS Message.