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docs/en/msg_docs/RoverSpeedStatus.md
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@@ -1,8 +1,30 @@
---
pageClass: is-wide-page
---
# RoverSpeedStatus (UORB message)
Rover Velocity Status
Rover Velocity Status.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedStatus.msg)
**TOPICS:** rover_speedstatus
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------ | --------- | ------------ | ----------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| measured_speed_body_x | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Measured speed in body x direction |
| adjusted_speed_body_x_setpoint | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Speed setpoint in body x direction that is being tracked (Applied slew rates) |
| pid_throttle_body_x_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop controller of the speed in body x direction |
| measured_speed_body_y | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Measured speed in body y direction (Invalid: NaN If not mecanum) |
| adjusted_speed_body_y_setpoint | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) (Invalid: NaN If not mecanum) |
| pid_throttle_body_y_integral | `float32` | | [-1 : 1] | Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction (Invalid: NaN If not mecanum) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedStatus.msg)
::: details Click here to see original file
```c
# Rover Velocity Status
@@ -14,5 +36,6 @@ float32 pid_throttle_body_x_integral # [-] [@range -1, 1] Integral of the PID
float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_y_integral # [-] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
```
:::