Fix HelperROT.msg (#34)

* Fix HelperROT.msg * Clarified description
UBCSailbot · Dec 18, 2023 · eb2392d · eb2392d
1 parent 5aeb1bf
commit eb2392d
Showing 1 changed file with 8 additions and 3 deletions.
diff --git a/msg/HelperROT.msg b/msg/HelperROT.msg
@@ -1,3 +1,8 @@
-# Rate of turn of the ship, negative for CCW turning and positive for CW turning.
-# Unit: degrees/hour
-float32 rot
+# Rate of turn of the ship, negative for CCW (min -126) turning and positive for CW (max +126) turning.
+# Special unit: https://documentation.spire.com/ais-fundamentals/understanding-ais-performance-in-high-traffic-zones/
+# = int(4.733 * sqrt(degrees/minute))
+# -126 and +126 indicate CCW/CW at a rate of up to 708 degrees/minute or higher
+# -127 and +127 are special values indicates CCW/CW turning of more than 10 degrees/minute (only used if the reporting
+# vessel does not have an external ROT indicator device available)
+# -128 means no rot info
+int8 rot