sv: rename rover sp to surface vehicle

msg/CMakeLists.txt

@@ -176,15 +176,6 @@ set(msg_files
 	RateCtrlStatus.msg
 	RcChannels.msg
 	RcParameterMap.msg
-	RoverAttitudeSetpoint.msg
-	RoverAttitudeStatus.msg
-	RoverPositionSetpoint.msg
-	RoverRateSetpoint.msg
-	RoverRateStatus.msg
-	RoverSpeedSetpoint.msg
-	RoverSpeedStatus.msg
-	RoverSteeringSetpoint.msg
-	RoverThrottleSetpoint.msg
 	Rpm.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg
@@ -208,6 +199,15 @@ set(msg_files
 	SensorsStatusImu.msg
 	SensorUwb.msg
 	SensorAirflow.msg
+	SurfaceVehicleAttitudeSetpoint.msg
+	SurfaceVehicleAttitudeStatus.msg
+	SurfaceVehiclePositionSetpoint.msg
+	SurfaceVehicleRateSetpoint.msg
+	SurfaceVehicleRateStatus.msg
+	SurfaceVehicleSpeedSetpoint.msg
+	SurfaceVehicleSpeedStatus.msg
+	SurfaceVehicleSteeringSetpoint.msg
+	SurfaceVehicleThrottleSetpoint.msg
 	SystemPower.msg
 	TakeoffStatus.msg
 	TaskStackInfo.msg

msg/SurfaceVehicleAttitudeSetpoint.msg

@@ -1,4 +1,4 @@
-# Rover Attitude Setpoint
+# Surface Vehicle Attitude Setpoint
 
 uint64 timestamp # [us] Time since system start
 float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint

msg/SurfaceVehicleAttitudeStatus.msg

@@ -1,5 +1,5 @@
-# Rover Attitude Status
+# Surface Vehicle Attitude Status
 
 uint64 timestamp # [us] Time since system start
-float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw
+float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED] Measured yaw
 float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)

msg/SurfaceVehiclePositionSetpoint.msg

@@ -1,8 +1,8 @@
-# Rover Position Setpoint
+# Surface Vehicle Position Setpoint
 
 uint64 timestamp # [us] Time since system start
 float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
 float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
 float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
-float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
-float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
+float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the vehicle should arrive at the target with
+float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Omnidirectional only: Specify vehicle yaw during travel

msg/SurfaceVehicleRateSetpoint.msg

@@ -1,4 +1,4 @@
-# Rover Rate setpoint
+# Surface Vehicle Rate setpoint
 
 uint64 timestamp # [us] Time since system start
 float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint

msg/SurfaceVehicleRateStatus.msg

@@ -1,4 +1,4 @@
-# Rover Rate Status
+# Surface Vehicle Rate Status
 
 uint64 timestamp # [us] Time since system start
 float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate

msg/SurfaceVehicleSpeedSetpoint.msg

@@ -1,5 +1,5 @@
-# Rover Speed Setpoint
+# Surface Vehicle Speed Setpoint
 
 uint64 timestamp # [us] Time since system start
 float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
-float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
+float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional only: Speed setpoint in body y direction

msg/SurfaceVehicleSpeedStatus.msg

@@ -1,9 +1,9 @@
-# Rover Velocity Status
+# Surface Vehicle Velocity Status
 
 uint64 timestamp # [us] Time since system start
 float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
 float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
 float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
-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
+float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional 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 omnidirectional] Omnidirectional 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 omnidirectional] Omnidirectional only: Integral of the PID for the closed loop controller of the speed in body y direction

msg/SurfaceVehicleSteeringSetpoint.msg

@@ -1,4 +1,4 @@
-# Rover Steering setpoint
+# Surface Vehicle Steering setpoint
 
 uint64 timestamp # [us] Time since system start
-float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
+float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Omnidirectional: Normalized speed difference between the left and right wheels

msg/SurfaceVehicleThrottleSetpoint.msg

@@ -1,5 +1,5 @@
-# Rover Throttle setpoint
+# Surface Vehicle Throttle setpoint
 
 uint64 timestamp # [us] Time since system start
 float32 throttle_body_x # [] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
-float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
+float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional only: Throttle setpoint along body Y axis