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Define the ID of the vehicle you want to drive. Read the ID in from the LCC using the function "cmd_parameter_ints()" from our cpm library.

Initialize a DDS Writer for the RTI DDS Service to ensure that position and speed will be sent to the simulation and the vehicle. Write on the topic "vehicleCommandTrajectory" with datatype "VehicleCommandTrajectory". The topic's name is the name of the datatype with a lowercase letter.

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Define the speed vector of the vehicle for each point for the entire trajectory. When you define v__x and v__y remember that v_ges = sqrt(v_x^2 +v_y^2) (as it is a vector). You use this vector to define the direction for your vehicle, so where it has to steer next. Always assign at least a small value to both vectors to ensure the correct direction. Remember that your are defining a physical system, so avoid sharp edges.

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Now implement your points and speed values using the predefined vetors trajectory_px and trajectory_py for your points of the trajectory and trajectory_vx and trajectory_vy for the speed at each point. The speed is given in m/s. Set the center of the circle to the center of the map at x =2,25m and y= 2m.

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