GuidanceSystemCommand
This message conforms to ISO 11783-7 guidance commands. It is used for auto-steering and commands
the vehicle to follow the transmitted curvature course.
Negative curvature values will cause the vehicle to drive left.
CAN message
Priority
3
PGN
44288
XID
n/a
Occurrence
when required, every 100 ms or faster. PVED-CL sample period is 20 ms
Mode
operational, reduced
Sent by
high priority external set-point controller
Sent to
PVED-CL
Data field
Bytes
Encoding
Value/Range
Description
1, 2
UNSIGNED16
0 – 64255
curvature command
(-8032 to 8031.75) km-1 with resolution 0.25 km-1
and offset -8032 km-1
3
bits 8-3
all ones
reserved
bits 2, 1
00
01
10
11
steering command status:
– not intended for steering
– intended for steering
– error indication
– not available
4 – 8
–
all ones
reserved
GuidanceMachineStatus
This message conforms to ISO 11783-7 guidance commands. It is used to report current vehicle’s
estimated curvature as well status flags.
CAN message
Priority
3
PGN
44032
XID
n/a
Occurrence
every 80 ms, only if the high priority external set-point controller is mapped
Mode
operational, reduced
Sent by
PVED-CL
Sent to
high priority external set-point controller
Technical Information
PVED-CL Communication Protocol, version 1.38 Technical Information
Guidance
11079551 • Rev BA • July 2014
33