1   Definition

The response issued by a Wheel to the Motion Actuation Subsystem regarding the execution of an AMS-MAS Message.

2   Functional Requirements

The Response of a Wheelto a Steering Command.

3   Syntax


4   Semantics

Label Size Description
Header N1 Bytes Wheel Response Header
– Standard 9 Bytes The characters “CAV-WHR-V”
– Version N2 Bytes Major version – 1 or 2 Bytes
– Dot-separator 1 Byte The character “.”
– Subversion N3 Bytes Minor version – 1 or 2 Bytes
WheelID N4 Bytes Identifier of Wheel .
WheelResponseID N5 Bytes Identifier of Wheel Response.
WheelResponse N7 Bytes Set of Wheel Responses.
– WheelResponseSpaceTime N8 Bytes Space-Time of Wheel Response.
– WheelState N9 Bytes State of  Wheel.
DescrMetadata N10 Bytes Descriptive Metadata

5   Data Formats and Attitudes

Wheel Qualifiers are required.

6   To Respondents

Respondents are requested to propose Wheel Qualifiers.