From 7a77c05b65a655bbac2699665e4e78568f5ee7f5 Mon Sep 17 00:00:00 2001 From: PerFrivik Date: Wed, 12 Jun 2024 16:46:19 +0200 Subject: [PATCH] make boat setpoint msg less pedantic --- msg/BoatSetpoint.msg | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/msg/BoatSetpoint.msg b/msg/BoatSetpoint.msg index 7d33a039c1..60700dcf48 100644 --- a/msg/BoatSetpoint.msg +++ b/msg/BoatSetpoint.msg @@ -3,6 +3,8 @@ uint64 timestamp # time since system start (microseconds) float32 speed # [m/s] collective roll-off speed in body x-axis bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward float32 yaw_rate # [rad] yaw_rate -bool closed_loop_yaw_rate_control # true if rudder angle is controlled using encoder feedback, false if direct feed-forward +bool closed_loop_yaw_rate_control # true if rudder angle is controlled using feedback, false if direct feed-forward +float32 heading_setpoint # [rad] desired heading +bool closed_loop_heading_control # true if heading is controlled using feedback, false if direct feed-forward # TOPICS boat_setpoint boat_control_output