rover: seperate speed control

msg/CMakeLists.txt

@@ -181,10 +181,10 @@ set(msg_files
 	RoverPositionSetpoint.msg
 	RoverRateSetpoint.msg
 	RoverRateStatus.msg
+	RoverSpeedSetpoint.msg
+	RoverSpeedStatus.msg
 	RoverSteeringSetpoint.msg
 	RoverThrottleSetpoint.msg
-	RoverVelocitySetpoint.msg
-	RoverVelocityStatus.msg
 	Rpm.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg

msg/RoverSpeedSetpoint.msg

@@ -0,0 +1,5 @@
+# Rover 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

msg/RoverVelocitySetpoint.msg

@@ -1,6 +0,0 @@
-# Rover Velocity Setpoint
-
-uint64 timestamp # [us] Time since system start
-float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint
-float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint
-float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint