diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index dcb33a5cbd..ad0707cbb6 100644 --- a/msg/CMakeLists.txt +++ b/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 diff --git a/msg/RoverAttitudeSetpoint.msg b/msg/SurfaceVehicleAttitudeSetpoint.msg similarity index 77% rename from msg/RoverAttitudeSetpoint.msg rename to msg/SurfaceVehicleAttitudeSetpoint.msg index 05b5d15086..3bd7afed38 100644 --- a/msg/RoverAttitudeSetpoint.msg +++ b/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 diff --git a/msg/RoverAttitudeStatus.msg b/msg/SurfaceVehicleAttitudeStatus.msg similarity index 62% rename from msg/RoverAttitudeStatus.msg rename to msg/SurfaceVehicleAttitudeStatus.msg index 6b8afc192a..a415674fea 100644 --- a/msg/RoverAttitudeStatus.msg +++ b/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) diff --git a/msg/RoverPositionSetpoint.msg b/msg/SurfaceVehiclePositionSetpoint.msg similarity index 74% rename from msg/RoverPositionSetpoint.msg rename to msg/SurfaceVehiclePositionSetpoint.msg index bc711d2d29..892a249956 100644 --- a/msg/RoverPositionSetpoint.msg +++ b/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 diff --git a/msg/RoverRateSetpoint.msg b/msg/SurfaceVehicleRateSetpoint.msg similarity index 80% rename from msg/RoverRateSetpoint.msg rename to msg/SurfaceVehicleRateSetpoint.msg index 1a3c3b89f1..fd5092c262 100644 --- a/msg/RoverRateSetpoint.msg +++ b/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 diff --git a/msg/RoverRateStatus.msg b/msg/SurfaceVehicleRateStatus.msg similarity index 92% rename from msg/RoverRateStatus.msg rename to msg/SurfaceVehicleRateStatus.msg index fd6c0b7f3c..5261b5c5d3 100644 --- a/msg/RoverRateStatus.msg +++ b/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 diff --git a/msg/RoverSpeedSetpoint.msg b/msg/SurfaceVehicleSpeedSetpoint.msg similarity index 62% rename from msg/RoverSpeedSetpoint.msg rename to msg/SurfaceVehicleSpeedSetpoint.msg index ac7787f6c9..22345743c6 100644 --- a/msg/RoverSpeedSetpoint.msg +++ b/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 diff --git a/msg/RoverSpeedStatus.msg b/msg/SurfaceVehicleSpeedStatus.msg similarity index 60% rename from msg/RoverSpeedStatus.msg rename to msg/SurfaceVehicleSpeedStatus.msg index 71cacd0e77..8865b28d6f 100644 --- a/msg/RoverSpeedStatus.msg +++ b/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 diff --git a/msg/RoverSteeringSetpoint.msg b/msg/SurfaceVehicleSteeringSetpoint.msg similarity index 59% rename from msg/RoverSteeringSetpoint.msg rename to msg/SurfaceVehicleSteeringSetpoint.msg index f2daa967f9..78de3c7be9 100644 --- a/msg/RoverSteeringSetpoint.msg +++ b/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 diff --git a/msg/RoverThrottleSetpoint.msg b/msg/SurfaceVehicleThrottleSetpoint.msg similarity index 61% rename from msg/RoverThrottleSetpoint.msg rename to msg/SurfaceVehicleThrottleSetpoint.msg index 333ebee5c3..cc20ea262e 100644 --- a/msg/RoverThrottleSetpoint.msg +++ b/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