ackermann: seperate velocity control

msg/AckermannVelocitySetpoint.msg

@@ -0,0 +1,4 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32[2] velocity_ned # 2-dimensional velocity setpoint in NED frame [m/s]
+bool backwards	        # Flag for backwards driving

msg/CMakeLists.txt

@@ -37,6 +37,7 @@ cmake_policy(SET CMP0057 NEW)
 include(px4_list_make_absolute)
 
 set(msg_files
+	AckermannVelocitySetpoint.msg
 	ActionRequest.msg
 	ActuatorArmed.msg
 	ActuatorControlsStatus.msg

msg/PurePursuitStatus.msg

@@ -5,5 +5,3 @@ float32 target_bearing       # [rad] Target bearing calculated by the pure pursu
 float32 crosstrack_error     # [m] Shortest distance from the vehicle to the path (Positiv: Vehicle is on the right hand side with respect to the oriented path vector, Negativ: Left of the path)
 float32 distance_to_waypoint # [m] Distance from the vehicle to the current waypoint
 float32 bearing_to_waypoint  # [rad] Bearing towards current waypoint
-
-# TOPICS pure_pursuit_status

msg/RoverAttitudeSetpoint.msg

@@ -1,5 +1,3 @@
 uint64 timestamp # time since system start (microseconds)
 
 float32 yaw_setpoint # [rad] Expressed in NED frame
-
-# TOPICS rover_attitude_setpoint

msg/RoverAttitudeStatus.msg

@@ -2,5 +2,3 @@ uint64 timestamp # time since system start (microseconds)
 
 float32 measured_yaw          # [rad/s] Measured yaw rate
 float32 adjusted_yaw_setpoint # [rad/s] Yaw setpoint that is being tracked (Applied slew rates)
-
-# TOPICS rover_attitude_status

msg/RoverRateSetpoint.msg

@@ -1,5 +1,3 @@
 uint64 timestamp # time since system start (microseconds)
 
 float32 yaw_rate_setpoint # [rad/s] Expressed in NED frame
-
-# TOPICS rover_rate_setpoint

msg/RoverRateStatus.msg

@@ -3,5 +3,3 @@ uint64 timestamp # time since system start (microseconds)
 float32 measured_yaw_rate          # [rad/s] Measured yaw rate
 float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint that is being tracked (Applied slew rates)
 float32 pid_yaw_rate_integral      # Integral of the PID for the closed loop yaw rate controller
-
-# TOPICS rover_rate_status

msg/RoverSteeringSetpoint.msg

@@ -1,6 +1,5 @@
 uint64 timestamp # time since system start (microseconds)
 
-float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Only for Ackermann-steered rovers)
-float32 normalized_speed_diff     # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Only for Differential/Mecanum rovers)
+float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Ackermann only, Positiv: Steer right, Negativ: Steer left)
 
-# TOPICS rover_steering_setpoint
+float32 normalized_speed_diff     # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Differential/Mecanum only, Positiv = Turn right, Negativ: Turn left)

msg/RoverThrottleSetpoint.msg

@@ -1,7 +1,6 @@
 
 uint64 timestamp        # time since system start (microseconds)
 
-float32 throttle_body_x # throttle setpoint along body X axis [-1, 1]
-float32 throttle_body_y # throttle setpoint along body Y axis [-1, 1]
+float32 throttle_body_x # throttle setpoint along body X axis [-1, 1] (Positiv = forwards, Negativ = backwards)
 
-# TOPICS rover_throttle_setpoint
+float32 throttle_body_y # throttle setpoint along body Y axis [-1, 1] (Mecanum only, Positiv = right, Negativ = left)

msg/RoverVelocityStatus.msg

@@ -8,5 +8,3 @@ float32 speed_body_y_setpoint          # [m/s] Speed setpoint in body y directio
 float32 adjusted_speed_body_y_setpoint # [m/s] Post slew rate speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
 float32 pid_throttle_body_x_integral   # Integral of the PID for the closed loop controller of the speed in body x direction
 float32 pid_throttle_body_y_integral   # Integral of the PID for the closed loop controller of the speed in body y direction
-
-# TOPICS rover_velocity_status