rover: apply sp renaming to rover modules

src/modules/logger/logged_topics.cpp

@@ -106,15 +106,15 @@ void LoggedTopics::add_default_topics()
 	add_topic("position_setpoint_triplet", 200);
 	add_optional_topic("px4io_status");
 	add_topic("radio_status");
-	add_optional_topic("rover_attitude_setpoint", 100);
-	add_optional_topic("rover_attitude_status", 100);
-	add_optional_topic("rover_position_setpoint", 100);
-	add_optional_topic("rover_rate_setpoint", 100);
-	add_optional_topic("rover_rate_status", 100);
-	add_optional_topic("rover_speed_setpoint", 100);
-	add_optional_topic("rover_speed_status", 100);
-	add_optional_topic("rover_steering_setpoint", 100);
-	add_optional_topic("rover_throttle_setpoint", 100);
+	add_optional_topic("surface_vehicle_attitude_setpoint", 100);
+	add_optional_topic("surface_vehicle_attitude_status", 100);
+	add_optional_topic("surface_vehicle_position_setpoint", 100);
+	add_optional_topic("surface_vehicle_rate_setpoint", 100);
+	add_optional_topic("surface_vehicle_rate_status", 100);
+	add_optional_topic("surface_vehicle_speed_setpoint", 100);
+	add_optional_topic("surface_vehicle_speed_status", 100);
+	add_optional_topic("surface_vehicle_steering_setpoint", 100);
+	add_optional_topic("surface_vehicle_throttle_setpoint", 100);
 	add_topic("rtl_time_estimate", 1000);
 	add_topic("rtl_status", 2000);
 	add_optional_topic("sensor_airflow", 100);

src/modules/rover_ackermann/AckermannActControl/AckermannActControl.cpp

@@ -60,10 +60,10 @@ void AckermannActControl::updateActControl()
 	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
 
 	// Motor control
-	if (_rover_throttle_setpoint_sub.updated()) {
-		rover_throttle_setpoint_s rover_throttle_setpoint{};
-		_rover_throttle_setpoint_sub.copy(&rover_throttle_setpoint);
-		_throttle_setpoint = rover_throttle_setpoint.throttle_body_x;
+	if (_surface_vehicle_throttle_setpoint_sub.updated()) {
+		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+		_surface_vehicle_throttle_setpoint_sub.copy(&surface_vehicle_throttle_setpoint);
+		_throttle_setpoint = surface_vehicle_throttle_setpoint.throttle_body_x;
 	}
 
 	if (PX4_ISFINITE(_throttle_setpoint)) {
@@ -80,10 +80,10 @@ void AckermannActControl::updateActControl()
 	}
 
 	// Servo control
-	if (_rover_steering_setpoint_sub.updated()) {
-		rover_steering_setpoint_s rover_steering_setpoint{};
-		_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
-		_steering_setpoint = rover_steering_setpoint.normalized_steering_setpoint;
+	if (_surface_vehicle_steering_setpoint_sub.updated()) {
+		surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+		_surface_vehicle_steering_setpoint_sub.copy(&surface_vehicle_steering_setpoint);
+		_steering_setpoint = surface_vehicle_steering_setpoint.normalized_steering_setpoint;
 	}
 
 	if (PX4_ISFINITE(_steering_setpoint)) {

src/modules/rover_ackermann/AckermannActControl/AckermannActControl.hpp

@@ -46,8 +46,8 @@
 #include <uORB/Publication.hpp>
 #include <uORB/topics/actuator_motors.h>
 #include <uORB/topics/actuator_servos.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
 
 /**
  * @brief Class for ackermann actuator control.
@@ -63,7 +63,7 @@ public:
 	~AckermannActControl() = default;
 
 	/**
-	 * @brief Generate and publish actuatorMotors/actuatorServos setpoints from roverThrottleSetpoint/roverSteeringSetpoint.
+	 * @brief Generate and publish actuatorMotors/actuatorServos setpoints from SurfaceVehicleThrottleSetpoint/SurfaceVehicleSteeringSetpoint.
 	 */
 	void updateActControl();
 
@@ -83,8 +83,8 @@ private:
 	// uORB subscriptions
 	uORB::Subscription _actuator_servos_sub{ORB_ID(actuator_servos)};
 	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
-	uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
-	uORB::Subscription _rover_throttle_setpoint_sub{ORB_ID(rover_throttle_setpoint)};
+	uORB::Subscription _surface_vehicle_steering_setpoint_sub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Subscription _surface_vehicle_throttle_setpoint_sub{ORB_ID(surface_vehicle_throttle_setpoint)};
 
 	// uORB publications
 	uORB::Publication<actuator_motors_s> 	     _actuator_motors_pub{ORB_ID(actuator_motors)};

src/modules/rover_ackermann/AckermannAttControl/AckermannAttControl.cpp

@@ -37,8 +37,8 @@ using namespace time_literals;
 
 AckermannAttControl::AckermannAttControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_rate_setpoint_pub.advertise();
-	_rover_attitude_status_pub.advertise();
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_status_pub.advertise();
 	updateParams();
 }
 
@@ -76,19 +76,19 @@ void AckermannAttControl::updateAttControl()
 		float yaw_rate_setpoint = RoverControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, yaw_slew_rate,
 					  _vehicle_yaw, _yaw_setpoint, dt);
 
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = _timestamp;
-		rover_rate_setpoint.yaw_rate_setpoint = math::constrain(yaw_rate_setpoint, -_max_yaw_rate, _max_yaw_rate);
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = _timestamp;
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = math::constrain(yaw_rate_setpoint, -_max_yaw_rate, _max_yaw_rate);
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 
 	}
 
 	// Publish attitude controller status (logging only)
-	rover_attitude_status_s rover_attitude_status;
-	rover_attitude_status.timestamp = _timestamp;
-	rover_attitude_status.measured_yaw = _vehicle_yaw;
-	rover_attitude_status.adjusted_yaw_setpoint = matrix::wrap_pi(_adjusted_yaw_setpoint.getState());
-	_rover_attitude_status_pub.publish(rover_attitude_status);
+	surface_vehicle_attitude_status_s surface_vehicle_attitude_status;
+	surface_vehicle_attitude_status.timestamp = _timestamp;
+	surface_vehicle_attitude_status.measured_yaw = _vehicle_yaw;
+	surface_vehicle_attitude_status.adjusted_yaw_setpoint = matrix::wrap_pi(_adjusted_yaw_setpoint.getState());
+	_surface_vehicle_attitude_status_pub.publish(surface_vehicle_attitude_status);
 
 }
 
@@ -109,10 +109,10 @@ void AckermannAttControl::updateSubscriptions()
 					  -_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get());
 	}
 
-	if (_rover_attitude_setpoint_sub.updated()) {
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		_rover_attitude_setpoint_sub.copy(&rover_attitude_setpoint);
-		_yaw_setpoint = rover_attitude_setpoint.yaw_setpoint;
+	if (_surface_vehicle_attitude_setpoint_sub.updated()) {
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		_surface_vehicle_attitude_setpoint_sub.copy(&surface_vehicle_attitude_setpoint);
+		_yaw_setpoint = surface_vehicle_attitude_setpoint.yaw_setpoint;
 	}
 }
 

src/modules/rover_ackermann/AckermannAttControl/AckermannAttControl.hpp

@@ -46,10 +46,10 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/rover_attitude_status.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_status.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
 #include <uORB/topics/actuator_motors.h>
 
 /**
@@ -66,7 +66,7 @@ public:
 	~AckermannAttControl() = default;
 
 	/**
-	 * @brief Generate and publish roverRateSetpoint from roverAttitudeSetpoint.
+	 * @brief Generate and publish SurfaceVehicleRateSetpoint from SurfaceVehicleAttitudeSetpoint.
 	 */
 	void updateAttControl();
 
@@ -96,11 +96,11 @@ private:
 	// uORB subscriptions
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
-	uORB::Subscription _rover_attitude_setpoint_sub{ORB_ID(rover_attitude_setpoint)};
+	uORB::Subscription _surface_vehicle_attitude_setpoint_sub{ORB_ID(surface_vehicle_attitude_setpoint)};
 
 	// uORB publications
-	uORB::Publication<rover_rate_setpoint_s>     _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
-	uORB::Publication<rover_attitude_status_s>   _rover_attitude_status_pub{ORB_ID(rover_attitude_status)};
+	uORB::Publication<surface_vehicle_rate_setpoint_s>     _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_status_s>   _surface_vehicle_attitude_status_pub{ORB_ID(surface_vehicle_attitude_status)};
 
 	// Variables
 	float _vehicle_yaw{0.f};

src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/AckermannAutoMode.cpp

@@ -38,7 +38,7 @@ using namespace time_literals;
 AckermannAutoMode::AckermannAutoMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_position_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
 }
 
 void AckermannAutoMode::updateParams()
@@ -70,17 +70,18 @@ void AckermannAutoMode::autoControl()
 
 		updateWaypointsAndAcceptanceRadius();
 
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = _curr_wp_ned(0);
-		rover_position_setpoint.position_ned[1] = _curr_wp_ned(1);
-		rover_position_setpoint.start_ned[0] = _prev_wp_ned(0);
-		rover_position_setpoint.start_ned[1] = _prev_wp_ned(1);
-		rover_position_setpoint.arrival_speed = arrivalSpeed(_cruising_speed, _min_speed, _acceptance_radius, _curr_wp_type,
-							_waypoint_transition_angle, _max_yaw_rate);
-		rover_position_setpoint.cruising_speed = _cruising_speed;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = _curr_wp_ned(0);
+		surface_vehicle_position_setpoint.position_ned[1] = _curr_wp_ned(1);
+		surface_vehicle_position_setpoint.start_ned[0] = _prev_wp_ned(0);
+		surface_vehicle_position_setpoint.start_ned[1] = _prev_wp_ned(1);
+		surface_vehicle_position_setpoint.arrival_speed = arrivalSpeed(_cruising_speed, _min_speed, _acceptance_radius,
+				_curr_wp_type,
+				_waypoint_transition_angle, _max_yaw_rate);
+		surface_vehicle_position_setpoint.cruising_speed = _cruising_speed;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 	}
 
 }

src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/AckermannAutoMode.hpp

@@ -46,7 +46,7 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/position_controller_status.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 
 /**
  * @brief Class for ackermann auto mode.
@@ -62,7 +62,7 @@ public:
 	~AckermannAutoMode() = default;
 
 	/**
-	 * @brief Generate and publish roverPositionSetpoint from positionSetpointTriplet.
+	 * @brief Generate and publish SurfaceVehiclePositionSetpoint from positionSetpointTriplet.
 	 */
 	void autoControl();
 
@@ -110,7 +110,7 @@ private:
 	uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)};
 
 	// uORB publications
-	uORB::Publication<rover_position_setpoint_s>    _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s>    _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
 	uORB::Publication<position_controller_status_s>	_position_controller_status_pub{ORB_ID(position_controller_status)};
 
 	// Variables

src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.cpp

@@ -38,12 +38,12 @@ using namespace time_literals;
 AckermannManualMode::AckermannManualMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_throttle_setpoint_pub.advertise();
-	_rover_steering_setpoint_pub.advertise();
-	_rover_rate_setpoint_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
-	_rover_speed_setpoint_pub.advertise();
-	_rover_position_setpoint_pub.advertise();
+	_surface_vehicle_throttle_setpoint_pub.advertise();
+	_surface_vehicle_steering_setpoint_pub.advertise();
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
 }
 
 void AckermannManualMode::updateParams()
@@ -56,32 +56,32 @@ void AckermannManualMode::manual()
 {
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_steering_setpoint_s rover_steering_setpoint{};
-	rover_steering_setpoint.timestamp = hrt_absolute_time();
-	rover_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.roll;
-	_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = 0.f;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
+	surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+	surface_vehicle_steering_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.roll;
+	_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
 }
 
 void AckermannManualMode::acro()
 {
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = 0.f;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
-	rover_rate_setpoint_s rover_rate_setpoint{};
-	rover_rate_setpoint.timestamp = hrt_absolute_time();
-	rover_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
-						math::superexpo<float>
-						(manual_control_setpoint.roll, _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-	_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
+	surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+	surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+			math::superexpo<float>
+			(manual_control_setpoint.roll, _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
+	_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 }
 
 void AckermannManualMode::stab()
@@ -95,39 +95,39 @@ void AckermannManualMode::stab()
 
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = 0.f;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
 
 	if (fabsf(manual_control_setpoint.roll) > FLT_EPSILON
-	    || fabsf(rover_throttle_setpoint.throttle_body_x) < FLT_EPSILON) {
+	    || fabsf(surface_vehicle_throttle_setpoint.throttle_body_x) < FLT_EPSILON) {
 		_stab_yaw_setpoint = NAN;
 
 		// Rate control
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
-							math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
-									_param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+				math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
+						       _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 
 		// Set uncontrolled setpoint invalid
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = NAN;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = NAN;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 	} else { // Heading control
 		if (!PX4_ISFINITE(_stab_yaw_setpoint)) {
 			_stab_yaw_setpoint = _vehicle_yaw;
 		}
 
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = _stab_yaw_setpoint;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = _stab_yaw_setpoint;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 	}
 }
 
@@ -164,35 +164,35 @@ void AckermannManualMode::position()
 		_pos_ctl_course_direction = Vector2f(NAN, NAN);
 
 		// Speed control
-		rover_speed_setpoint_s rover_speed_setpoint{};
-		rover_speed_setpoint.timestamp = hrt_absolute_time();
-		rover_speed_setpoint.speed_body_x = speed_setpoint;
-		_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+		surface_vehicle_speed_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_speed_setpoint.speed_body_x = speed_setpoint;
+		_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
 
 		// Rate control
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
-							math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
-									_param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+				math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
+						       _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 
 		// Set uncontrolled setpoints invalid
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = NAN;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = NAN;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = NAN;
-		rover_position_setpoint.position_ned[1] = NAN;
-		rover_position_setpoint.start_ned[0] = NAN;
-		rover_position_setpoint.start_ned[1] = NAN;
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.cruising_speed = NAN;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = NAN;
+		surface_vehicle_position_setpoint.position_ned[1] = NAN;
+		surface_vehicle_position_setpoint.start_ned[0] = NAN;
+		surface_vehicle_position_setpoint.start_ned[1] = NAN;
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = NAN;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 
 	} else { // Course control
 		if (!_pos_ctl_course_direction.isAllFinite()) {
@@ -205,16 +205,16 @@ void AckermannManualMode::position()
 		const float vector_scaling = fabsf(start_to_curr_pos * _pos_ctl_course_direction) + _param_pp_lookahd_max.get();
 		const Vector2f target_waypoint_ned = _pos_ctl_start_position_ned + sign(speed_setpoint) *
 						     vector_scaling * _pos_ctl_course_direction;
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = target_waypoint_ned(0);
-		rover_position_setpoint.position_ned[1] = target_waypoint_ned(1);
-		rover_position_setpoint.start_ned[0] = _pos_ctl_start_position_ned(0);
-		rover_position_setpoint.start_ned[1] = _pos_ctl_start_position_ned(1);
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.cruising_speed = speed_setpoint;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = target_waypoint_ned(0);
+		surface_vehicle_position_setpoint.position_ned[1] = target_waypoint_ned(1);
+		surface_vehicle_position_setpoint.start_ned[0] = _pos_ctl_start_position_ned(0);
+		surface_vehicle_position_setpoint.start_ned[1] = _pos_ctl_start_position_ned(1);
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = speed_setpoint;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 	}
 }
 

src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.hpp

@@ -47,12 +47,12 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/rover_throttle_setpoint.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_rate_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 
 /**
  * @brief Class for ackermann manual mode.
@@ -68,22 +68,22 @@ public:
 	~AckermannManualMode() = default;
 
 	/**
-	 * @brief Publish roverThrottleSetpoint and roverSteeringSetpoint from manualControlSetpoint.
+	 * @brief Publish SurfaceVehicleThrottleSetpoint and SurfaceVehicleSteeringSetpoint from manualControlSetpoint.
 	 */
 	void manual();
 
 	/**
-	 * @brief Generate and publish roverThrottleSetpoint and RoverRateSetpoint from manualControlSetpoint.
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint and SurfaceVehicleRateSetpoint from manualControlSetpoint.
 	 */
 	void acro();
 
 	/**
-	 * @brief Generate and publish roverThrottleSetpoint and RoverAttitudeSetpoint from manualControlSetpoint.
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint and SurfaceVehicleAttitudeSetpoint from manualControlSetpoint.
 	 */
 	void stab();
 
 	/**
-	 * @brief Generate and publish roverSpeedSetpoint/roverRateSetpoint or roverPositionSetpoint from manualControlSetpoint.
+	 * @brief Generate and publish SurfaceVehicleSpeedSetpoint/SurfaceVehicleRateSetpoint or SurfaceVehiclePositionSetpoint from manualControlSetpoint.
 	 */
 	void position();
 
@@ -105,12 +105,12 @@ private:
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 
 	// uORB publications
-	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
-	uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
-	uORB::Publication<rover_rate_setpoint_s>     _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
-	uORB::Publication<rover_speed_setpoint_s>    _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
-	uORB::Publication<rover_position_setpoint_s> _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<surface_vehicle_throttle_setpoint_s> _surface_vehicle_throttle_setpoint_pub{ORB_ID(surface_vehicle_throttle_setpoint)};
+	uORB::Publication<surface_vehicle_steering_setpoint_s> _surface_vehicle_steering_setpoint_pub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Publication<surface_vehicle_rate_setpoint_s>     _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s>    _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s> _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
 
 	// Variables
 	MapProjection _global_ned_proj_ref{}; // Transform global to NED coordinates

src/modules/rover_ackermann/AckermannDriveModes/AckermannOffboardMode/AckermannOffboardMode.cpp

@@ -38,9 +38,9 @@ using namespace time_literals;
 AckermannOffboardMode::AckermannOffboardMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_speed_setpoint_pub.advertise();
-	_rover_position_setpoint_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
 }
 
 void AckermannOffboardMode::updateParams()
@@ -57,26 +57,26 @@ void AckermannOffboardMode::offboardControl()
 	_trajectory_setpoint_sub.copy(&trajectory_setpoint);
 
 	if (offboard_control_mode.position) {
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = trajectory_setpoint.position[0];
-		rover_position_setpoint.position_ned[1] = trajectory_setpoint.position[1];
-		rover_position_setpoint.start_ned[0] = NAN;
-		rover_position_setpoint.start_ned[1] = NAN;
-		rover_position_setpoint.cruising_speed = NAN;
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = trajectory_setpoint.position[0];
+		surface_vehicle_position_setpoint.position_ned[1] = trajectory_setpoint.position[1];
+		surface_vehicle_position_setpoint.start_ned[0] = NAN;
+		surface_vehicle_position_setpoint.start_ned[1] = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = NAN;
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 
 	} else if (offboard_control_mode.velocity) {
 		const Vector2f velocity_ned(trajectory_setpoint.velocity[0], trajectory_setpoint.velocity[1]);
-		rover_speed_setpoint_s rover_speed_setpoint{};
-		rover_speed_setpoint.timestamp = hrt_absolute_time();
-		rover_speed_setpoint.speed_body_x = velocity_ned.norm();
-		_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = atan2f(velocity_ned(1), velocity_ned(0));
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+		surface_vehicle_speed_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_speed_setpoint.speed_body_x = velocity_ned.norm();
+		_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = atan2f(velocity_ned(1), velocity_ned(0));
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 	}
 }

src/modules/rover_ackermann/AckermannDriveModes/AckermannOffboardMode/AckermannOffboardMode.hpp

@@ -43,9 +43,9 @@
 // uORB includes
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 #include <uORB/topics/offboard_control_mode.h>
 #include <uORB/topics/trajectory_setpoint.h>
 
@@ -81,7 +81,7 @@ private:
 	uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
 
 	// uORB publications
-	uORB::Publication<rover_speed_setpoint_s>    _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
-	uORB::Publication<rover_position_setpoint_s> _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s>    _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s> _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
 };

src/modules/rover_ackermann/AckermannPosControl/AckermannPosControl.cpp

@@ -38,8 +38,8 @@ using namespace time_literals;
 AckermannPosControl::AckermannPosControl(ModuleParams *parent) : ModuleParams(parent)
 {
 	_pure_pursuit_status_pub.advertise();
-	_rover_speed_setpoint_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
 
 	updateParams();
 }
@@ -88,25 +88,25 @@ void AckermannPosControl::updatePosControl()
 			}
 
 			_pure_pursuit_status_pub.publish(pure_pursuit_status);
-			rover_speed_setpoint_s rover_speed_setpoint{};
-			rover_speed_setpoint.timestamp = timestamp;
-			rover_speed_setpoint.speed_body_x = speed_setpoint;
-			_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-			rover_attitude_setpoint_s rover_attitude_setpoint{};
-			rover_attitude_setpoint.timestamp = timestamp;
-			rover_attitude_setpoint.yaw_setpoint = speed_setpoint > -FLT_EPSILON ? bearing_setpoint : matrix::wrap_pi(
-					bearing_setpoint + M_PI_F);
-			_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+			surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+			surface_vehicle_speed_setpoint.timestamp = timestamp;
+			surface_vehicle_speed_setpoint.speed_body_x = speed_setpoint;
+			_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+			surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+			surface_vehicle_attitude_setpoint.timestamp = timestamp;
+			surface_vehicle_attitude_setpoint.yaw_setpoint = speed_setpoint > -FLT_EPSILON ? bearing_setpoint : matrix::wrap_pi(
+						bearing_setpoint + M_PI_F);
+			_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 		} else {
-			rover_speed_setpoint_s rover_speed_setpoint{};
-			rover_speed_setpoint.timestamp = timestamp;
-			rover_speed_setpoint.speed_body_x = 0.f;
-			_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-			rover_attitude_setpoint_s rover_attitude_setpoint{};
-			rover_attitude_setpoint.timestamp = timestamp;
-			rover_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
-			_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+			surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+			surface_vehicle_speed_setpoint.timestamp = timestamp;
+			surface_vehicle_speed_setpoint.speed_body_x = 0.f;
+			_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+			surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+			surface_vehicle_attitude_setpoint.timestamp = timestamp;
+			surface_vehicle_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
+			_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 			if (!_stopped && fabsf(_vehicle_speed) < FLT_EPSILON) {
 				_stopped = true;
@@ -147,15 +147,18 @@ void AckermannPosControl::updateSubscriptions()
 		_vehicle_speed = velocity_2d.norm() > _param_ro_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
 	}
 
-	if (_rover_position_setpoint_sub.updated()) {
-		rover_position_setpoint_s rover_position_setpoint;
-		_rover_position_setpoint_sub.copy(&rover_position_setpoint);
-		_start_ned = Vector2f(rover_position_setpoint.start_ned[0], rover_position_setpoint.start_ned[1]);
+	if (_surface_vehicle_position_setpoint_sub.updated()) {
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint;
+		_surface_vehicle_position_setpoint_sub.copy(&surface_vehicle_position_setpoint);
+		_start_ned = Vector2f(surface_vehicle_position_setpoint.start_ned[0], surface_vehicle_position_setpoint.start_ned[1]);
 		_start_ned = _start_ned.isAllFinite() ? _start_ned : _curr_pos_ned;
-		_arrival_speed = PX4_ISFINITE(rover_position_setpoint.arrival_speed) ? rover_position_setpoint.arrival_speed : 0.f;
-		_cruising_speed = PX4_ISFINITE(rover_position_setpoint.cruising_speed) ? rover_position_setpoint.cruising_speed :
+		_arrival_speed = PX4_ISFINITE(surface_vehicle_position_setpoint.arrival_speed) ?
+				 surface_vehicle_position_setpoint.arrival_speed : 0.f;
+		_cruising_speed = PX4_ISFINITE(surface_vehicle_position_setpoint.cruising_speed) ?
+				  surface_vehicle_position_setpoint.cruising_speed :
 				  _param_ro_speed_limit.get();
-		_target_waypoint_ned = Vector2f(rover_position_setpoint.position_ned[0], rover_position_setpoint.position_ned[1]);
+		_target_waypoint_ned = Vector2f(surface_vehicle_position_setpoint.position_ned[0],
+						surface_vehicle_position_setpoint.position_ned[1]);
 		_stopped = false;
 	}
 

src/modules/rover_ackermann/AckermannPosControl/AckermannPosControl.hpp

@@ -45,9 +45,9 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_position_setpoint.h>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/position_controller_status.h>
@@ -69,7 +69,7 @@ public:
 	~AckermannPosControl() = default;
 
 	/**
-	 * @brief Generate and publish roverSpeedSetpoint and roverAttitudeSetpoint from roverPositionSetpoint.
+	 * @brief Generate and publish SurfaceVehicleSpeedSetpoint and SurfaceVehicleAttitudeSetpoint from SurfaceVehiclePositionSetpoint.
 	 */
 	void updatePosControl();
 
@@ -99,12 +99,12 @@ private:
 	// uORB subscriptions
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _rover_position_setpoint_sub{ORB_ID(rover_position_setpoint)};
+	uORB::Subscription _surface_vehicle_position_setpoint_sub{ORB_ID(surface_vehicle_position_setpoint)};
 	uORB::Subscription _position_controller_status_sub{ORB_ID(position_controller_status)};
 
 	// uORB publications
-	uORB::Publication<rover_speed_setpoint_s> _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s> _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
 	uORB::Publication<pure_pursuit_status_s>     _pure_pursuit_status_pub{ORB_ID(pure_pursuit_status)};
 
 	// Variables

src/modules/rover_ackermann/AckermannRateControl/AckermannRateControl.cpp

@@ -37,8 +37,8 @@ using namespace time_literals;
 
 AckermannRateControl::AckermannRateControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_steering_setpoint_pub.advertise();
-	_rover_rate_status_pub.advertise();
+	_surface_vehicle_steering_setpoint_pub.advertise();
+	_surface_vehicle_rate_status_pub.advertise();
 	updateParams();
 }
 
@@ -95,29 +95,29 @@ void AckermannRateControl::updateRateControl()
 				steering_setpoint += _pid_yaw_rate.update(_vehicle_yaw_rate, dt);
 			}
 
-			rover_steering_setpoint_s rover_steering_setpoint{};
-			rover_steering_setpoint.timestamp = _timestamp;
-			rover_steering_setpoint.normalized_steering_setpoint = math::interpolate<float>(steering_setpoint,
+			surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+			surface_vehicle_steering_setpoint.timestamp = _timestamp;
+			surface_vehicle_steering_setpoint.normalized_steering_setpoint = math::interpolate<float>(steering_setpoint,
 					-_param_ra_max_str_ang.get(), _param_ra_max_str_ang.get(), -1.f, 1.f); // Normalize steering setpoint
-			_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
+			_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
 
 		} else {
 			_pid_yaw_rate.resetIntegral();
-			rover_steering_setpoint_s rover_steering_setpoint{};
-			rover_steering_setpoint.timestamp = _timestamp;
-			rover_steering_setpoint.normalized_steering_setpoint = 0.f;
-			_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
+			surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+			surface_vehicle_steering_setpoint.timestamp = _timestamp;
+			surface_vehicle_steering_setpoint.normalized_steering_setpoint = 0.f;
+			_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
 		}
 	}
 
 
 	// Publish rate controller status (logging only)
-	rover_rate_status_s rover_rate_status;
-	rover_rate_status.timestamp = _timestamp;
-	rover_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
-	rover_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
-	rover_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
-	_rover_rate_status_pub.publish(rover_rate_status);
+	surface_vehicle_rate_status_s surface_vehicle_rate_status;
+	surface_vehicle_rate_status.timestamp = _timestamp;
+	surface_vehicle_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
+	surface_vehicle_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
+	surface_vehicle_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
+	_surface_vehicle_rate_status_pub.publish(surface_vehicle_rate_status);
 
 }
 
@@ -139,10 +139,10 @@ void AckermannRateControl::updateSubscriptions()
 		_estimated_speed = fabsf(_estimated_speed) >  _param_ro_speed_th.get() ? _estimated_speed : 0.f;
 	}
 
-	if (_rover_rate_setpoint_sub.updated()) {
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		_rover_rate_setpoint_sub.copy(&rover_rate_setpoint);
-		_yaw_rate_setpoint = rover_rate_setpoint.yaw_rate_setpoint;
+	if (_surface_vehicle_rate_setpoint_sub.updated()) {
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		_surface_vehicle_rate_setpoint_sub.copy(&surface_vehicle_rate_setpoint);
+		_yaw_rate_setpoint = surface_vehicle_rate_setpoint.yaw_rate_setpoint;
 	}
 }
 

src/modules/rover_ackermann/AckermannRateControl/AckermannRateControl.hpp

@@ -46,10 +46,10 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_rate_status.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_status.h>
 #include <uORB/topics/actuator_motors.h>
 
 /**
@@ -66,7 +66,7 @@ public:
 	~AckermannRateControl() = default;
 
 	/**
-	 * @brief Generate and publish roverSteeringSetpoint from roverRateSetpoint.
+	 * @brief Generate and publish SurfaceVehicleSteeringSetpoint from SurfaceVehicleRateSetpoint.
 	 */
 	void updateRateControl();
 
@@ -94,13 +94,13 @@ private:
 	void updateSubscriptions();
 
 	// uORB subscriptions
-	uORB::Subscription _rover_rate_setpoint_sub{ORB_ID(rover_rate_setpoint)};
+	uORB::Subscription _surface_vehicle_rate_setpoint_sub{ORB_ID(surface_vehicle_rate_setpoint)};
 	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
 
 	// uORB publications
-	uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
-	uORB::Publication<rover_rate_status_s>       _rover_rate_status_pub{ORB_ID(rover_rate_status)};
+	uORB::Publication<surface_vehicle_steering_setpoint_s> _surface_vehicle_steering_setpoint_pub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Publication<surface_vehicle_rate_status_s>       _surface_vehicle_rate_status_pub{ORB_ID(surface_vehicle_rate_status)};
 
 	// Variables
 	float _estimated_speed{0.f}; /*Vehicle speed estimated by interpolating [actuatorMotorSetpoint,  _estimated_speed]

src/modules/rover_ackermann/AckermannSpeedControl/AckermannSpeedControl.cpp

@@ -37,8 +37,8 @@ using namespace time_literals;
 
 AckermannSpeedControl::AckermannSpeedControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_throttle_setpoint_pub.advertise();
-	_rover_speed_status_pub.advertise();
+	_surface_vehicle_throttle_setpoint_pub.advertise();
+	_surface_vehicle_speed_status_pub.advertise();
 	updateParams();
 }
 
@@ -69,25 +69,25 @@ void AckermannSpeedControl::updateSpeedControl()
 	if (PX4_ISFINITE(_speed_setpoint)) {
 		const float speed_setpoint = math::constrain(_speed_setpoint, -_param_ro_speed_limit.get(),
 					     _param_ro_speed_limit.get());
-		rover_throttle_setpoint_s rover_throttle_setpoint{};
-		rover_throttle_setpoint.timestamp = _timestamp;
-		rover_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_adjusted_speed_setpoint, _pid_speed,
+		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+		surface_vehicle_throttle_setpoint.timestamp = _timestamp;
+		surface_vehicle_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_adjusted_speed_setpoint, _pid_speed,
 				speed_setpoint, _vehicle_speed, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
 				_param_ro_max_thr_speed.get(), dt);
-		rover_throttle_setpoint.throttle_body_y = NAN;
-		_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
+		surface_vehicle_throttle_setpoint.throttle_body_y = NAN;
+		_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
 	}
 
 	// Publish speed controller status (logging only)
-	rover_speed_status_s rover_speed_status;
-	rover_speed_status.timestamp = _timestamp;
-	rover_speed_status.measured_speed_body_x = _vehicle_speed;
-	rover_speed_status.adjusted_speed_body_x_setpoint = _adjusted_speed_setpoint.getState();
-	rover_speed_status.pid_throttle_body_x_integral = _pid_speed.getIntegral();
-	rover_speed_status.measured_speed_body_y = NAN;
-	rover_speed_status.adjusted_speed_body_y_setpoint = NAN;
-	rover_speed_status.pid_throttle_body_y_integral = NAN;
-	_rover_speed_status_pub.publish(rover_speed_status);
+	surface_vehicle_speed_status_s surface_vehicle_speed_status;
+	surface_vehicle_speed_status.timestamp = _timestamp;
+	surface_vehicle_speed_status.measured_speed_body_x = _vehicle_speed;
+	surface_vehicle_speed_status.adjusted_speed_body_x_setpoint = _adjusted_speed_setpoint.getState();
+	surface_vehicle_speed_status.pid_throttle_body_x_integral = _pid_speed.getIntegral();
+	surface_vehicle_speed_status.measured_speed_body_y = NAN;
+	surface_vehicle_speed_status.adjusted_speed_body_y_setpoint = NAN;
+	surface_vehicle_speed_status.pid_throttle_body_y_integral = NAN;
+	_surface_vehicle_speed_status_pub.publish(surface_vehicle_speed_status);
 }
 
 void AckermannSpeedControl::updateSubscriptions()
@@ -107,10 +107,10 @@ void AckermannSpeedControl::updateSubscriptions()
 		_vehicle_speed = velocity_2d.norm() > _param_ro_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
 	}
 
-	if (_rover_speed_setpoint_sub.updated()) {
-		rover_speed_setpoint_s rover_speed_setpoint;
-		_rover_speed_setpoint_sub.copy(&rover_speed_setpoint);
-		_speed_setpoint = rover_speed_setpoint.speed_body_x;
+	if (_surface_vehicle_speed_setpoint_sub.updated()) {
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint;
+		_surface_vehicle_speed_setpoint_sub.copy(&surface_vehicle_speed_setpoint);
+		_speed_setpoint = surface_vehicle_speed_setpoint.speed_body_x;
 	}
 }
 

src/modules/rover_ackermann/AckermannSpeedControl/AckermannSpeedControl.hpp

@@ -47,9 +47,9 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_throttle_setpoint.h>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_speed_status.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_status.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
 
@@ -69,7 +69,7 @@ public:
 	~AckermannSpeedControl() = default;
 
 	/**
-	 * @brief Generate and publish RoverThrottleSetpoint from roverSpeedSetpoint.
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint from SurfaceVehicleSpeedSetpoint.
 	 */
 	void updateSpeedControl();
 
@@ -99,11 +99,11 @@ private:
 	// uORB subscriptions
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _rover_speed_setpoint_sub{ORB_ID(rover_speed_setpoint)};
+	uORB::Subscription _surface_vehicle_speed_setpoint_sub{ORB_ID(surface_vehicle_speed_setpoint)};
 
 	// uORB publications
-	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
-	uORB::Publication<rover_speed_status_s>      _rover_speed_status_pub{ORB_ID(rover_speed_status)};
+	uORB::Publication<surface_vehicle_throttle_setpoint_s> _surface_vehicle_throttle_setpoint_pub{ORB_ID(surface_vehicle_throttle_setpoint)};
+	uORB::Publication<surface_vehicle_speed_status_s>      _surface_vehicle_speed_status_pub{ORB_ID(surface_vehicle_speed_status)};
 
 	// Variables
 	hrt_abstime _timestamp{0};

src/modules/rover_differential/DifferentialActControl/DifferentialActControl.cpp

@@ -56,16 +56,16 @@ void DifferentialActControl::updateActControl()
 	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
 
 	// Motor control
-	if (_rover_throttle_setpoint_sub.updated()) {
-		rover_throttle_setpoint_s rover_throttle_setpoint{};
-		_rover_throttle_setpoint_sub.copy(&rover_throttle_setpoint);
-		_throttle_setpoint = rover_throttle_setpoint.throttle_body_x;
+	if (_surface_vehicle_throttle_setpoint_sub.updated()) {
+		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+		_surface_vehicle_throttle_setpoint_sub.copy(&surface_vehicle_throttle_setpoint);
+		_throttle_setpoint = surface_vehicle_throttle_setpoint.throttle_body_x;
 	}
 
-	if (_rover_steering_setpoint_sub.updated()) {
-		rover_steering_setpoint_s rover_steering_setpoint{};
-		_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
-		_speed_diff_setpoint = rover_steering_setpoint.normalized_steering_setpoint;
+	if (_surface_vehicle_steering_setpoint_sub.updated()) {
+		surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+		_surface_vehicle_steering_setpoint_sub.copy(&surface_vehicle_steering_setpoint);
+		_speed_diff_setpoint = surface_vehicle_steering_setpoint.normalized_steering_setpoint;
 	}
 
 	if (PX4_ISFINITE(_throttle_setpoint) && PX4_ISFINITE(_speed_diff_setpoint)) {

src/modules/rover_differential/DifferentialActControl/DifferentialActControl.hpp

@@ -45,8 +45,8 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/actuator_motors.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
 
 /**
@@ -63,7 +63,7 @@ public:
 	~DifferentialActControl() = default;
 
 	/**
-	 * @brief Generate and publish actuatorMotors setpoints from roverThrottleSetpoint/roverSteeringSetpoint.
+	 * @brief Generate and publish actuatorMotors setpoints from SurfaceVehicleThrottleSetpoint/SurfaceVehicleSteeringSetpoint.
 	 */
 	void updateActControl();
 
@@ -89,8 +89,8 @@ private:
 
 	// uORB subscriptions
 	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
-	uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
-	uORB::Subscription _rover_throttle_setpoint_sub{ORB_ID(rover_throttle_setpoint)};
+	uORB::Subscription _surface_vehicle_steering_setpoint_sub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Subscription _surface_vehicle_throttle_setpoint_sub{ORB_ID(surface_vehicle_throttle_setpoint)};
 
 	// uORB publications
 	uORB::Publication<actuator_motors_s> 	     _actuator_motors_pub{ORB_ID(actuator_motors)};

src/modules/rover_differential/DifferentialAttControl/DifferentialAttControl.cpp

@@ -37,8 +37,8 @@ using namespace time_literals;
 
 DifferentialAttControl::DifferentialAttControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_rate_setpoint_pub.advertise();
-	_rover_attitude_status_pub.advertise();
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_status_pub.advertise();
 	updateParams();
 }
 
@@ -72,28 +72,28 @@ void DifferentialAttControl::updateAttControl()
 		_vehicle_yaw = matrix::Eulerf(vehicle_attitude_quaternion).psi();
 	}
 
-	if (_rover_attitude_setpoint_sub.updated()) {
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		_rover_attitude_setpoint_sub.copy(&rover_attitude_setpoint);
-		_yaw_setpoint = rover_attitude_setpoint.yaw_setpoint;
+	if (_surface_vehicle_attitude_setpoint_sub.updated()) {
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		_surface_vehicle_attitude_setpoint_sub.copy(&surface_vehicle_attitude_setpoint);
+		_yaw_setpoint = surface_vehicle_attitude_setpoint.yaw_setpoint;
 	}
 
 	if (PX4_ISFINITE(_yaw_setpoint)) {
 		const float yaw_rate_setpoint = RoverControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, _max_yaw_rate,
 						_vehicle_yaw, _yaw_setpoint, dt);
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = _timestamp;
-		rover_rate_setpoint.yaw_rate_setpoint = math::constrain(yaw_rate_setpoint, -_max_yaw_rate, _max_yaw_rate);
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = _timestamp;
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = math::constrain(yaw_rate_setpoint, -_max_yaw_rate, _max_yaw_rate);
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 
 	}
 
 	// Publish attitude controller status (logging only)
-	rover_attitude_status_s rover_attitude_status;
-	rover_attitude_status.timestamp = _timestamp;
-	rover_attitude_status.measured_yaw = _vehicle_yaw;
-	rover_attitude_status.adjusted_yaw_setpoint = matrix::wrap_pi(_adjusted_yaw_setpoint.getState());
-	_rover_attitude_status_pub.publish(rover_attitude_status);
+	surface_vehicle_attitude_status_s surface_vehicle_attitude_status;
+	surface_vehicle_attitude_status.timestamp = _timestamp;
+	surface_vehicle_attitude_status.measured_yaw = _vehicle_yaw;
+	surface_vehicle_attitude_status.adjusted_yaw_setpoint = matrix::wrap_pi(_adjusted_yaw_setpoint.getState());
+	_surface_vehicle_attitude_status_pub.publish(surface_vehicle_attitude_status);
 
 }
 

src/modules/rover_differential/DifferentialAttControl/DifferentialAttControl.hpp

@@ -47,10 +47,10 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_rate_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/rover_attitude_status.h>
+#include <uORB/topics/surface_vehicle_attitude_status.h>
 
 /**
  * @brief Class for differential attitude control.
@@ -66,7 +66,7 @@ public:
 	~DifferentialAttControl() = default;
 
 	/**
-	 * @brief Generate and publish roverRateSetpoint from roverAttitudeSetpoint.
+	 * @brief Generate and publish SurfaceVehicleRateSetpoint from SurfaceVehicleAttitudeSetpoint.
 	 */
 	void updateAttControl();
 
@@ -90,11 +90,11 @@ protected:
 private:
 	// uORB subscriptions
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
-	uORB::Subscription _rover_attitude_setpoint_sub{ORB_ID(rover_attitude_setpoint)};
+	uORB::Subscription _surface_vehicle_attitude_setpoint_sub{ORB_ID(surface_vehicle_attitude_setpoint)};
 
 	// uORB publications
-	uORB::Publication<rover_rate_setpoint_s>     _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
-	uORB::Publication<rover_attitude_status_s>   _rover_attitude_status_pub{ORB_ID(rover_attitude_status)};
+	uORB::Publication<surface_vehicle_rate_setpoint_s>     _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_status_s>   _surface_vehicle_attitude_status_pub{ORB_ID(surface_vehicle_attitude_status)};
 
 	// Variables
 	float _vehicle_yaw{0.f};

src/modules/rover_differential/DifferentialDriveModes/DifferentialAutoMode/DifferentialAutoMode.cpp

@@ -38,7 +38,7 @@ using namespace time_literals;
 DifferentialAutoMode::DifferentialAutoMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_position_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
 }
 
 void DifferentialAutoMode::updateParams()
@@ -78,17 +78,17 @@ void DifferentialAutoMode::autoControl()
 		float cruising_speed = position_setpoint_triplet.current.cruising_speed > 0.f ? math::constrain(
 					       position_setpoint_triplet.current.cruising_speed, 0.f, _param_ro_speed_limit.get()) : _param_ro_speed_limit.get();
 
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = curr_wp_ned(0);
-		rover_position_setpoint.position_ned[1] = curr_wp_ned(1);
-		rover_position_setpoint.start_ned[0] = prev_wp_ned(0);
-		rover_position_setpoint.start_ned[1] = prev_wp_ned(1);
-		rover_position_setpoint.arrival_speed = arrivalSpeed(cruising_speed, waypoint_transition_angle,
-							_param_ro_speed_limit.get(), _param_rd_trans_drv_trn.get(), _param_ro_speed_red.get(), curr_wp_type);
-		rover_position_setpoint.cruising_speed = cruising_speed;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = curr_wp_ned(0);
+		surface_vehicle_position_setpoint.position_ned[1] = curr_wp_ned(1);
+		surface_vehicle_position_setpoint.start_ned[0] = prev_wp_ned(0);
+		surface_vehicle_position_setpoint.start_ned[1] = prev_wp_ned(1);
+		surface_vehicle_position_setpoint.arrival_speed = arrivalSpeed(cruising_speed, waypoint_transition_angle,
+				_param_ro_speed_limit.get(), _param_rd_trans_drv_trn.get(), _param_ro_speed_red.get(), curr_wp_type);
+		surface_vehicle_position_setpoint.cruising_speed = cruising_speed;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 	}
 }
 

src/modules/rover_differential/DifferentialDriveModes/DifferentialAutoMode/DifferentialAutoMode.hpp

@@ -45,7 +45,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/position_setpoint_triplet.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 
 /**
  * @brief Class for differential auto mode.
@@ -61,7 +61,7 @@ public:
 	~DifferentialAutoMode() = default;
 
 	/**
-	 * @brief Generate and publish roverPositionSetpoint from positionSetpointTriplet.
+	 * @brief Generate and publish SurfaceVehiclePositionSetpoint from positionSetpointTriplet.
 	 */
 	void autoControl();
 
@@ -91,7 +91,7 @@ private:
 	uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)};
 
 	// uORB publications
-	uORB::Publication<rover_position_setpoint_s>    _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s>    _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::RO_SPEED_LIM>)     _param_ro_speed_limit,

src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.cpp

@@ -38,12 +38,12 @@ using namespace time_literals;
 DifferentialManualMode::DifferentialManualMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_throttle_setpoint_pub.advertise();
-	_rover_steering_setpoint_pub.advertise();
-	_rover_rate_setpoint_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
-	_rover_speed_setpoint_pub.advertise();
-	_rover_position_setpoint_pub.advertise();
+	_surface_vehicle_throttle_setpoint_pub.advertise();
+	_surface_vehicle_steering_setpoint_pub.advertise();
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
 }
 
 void DifferentialManualMode::updateParams()
@@ -56,32 +56,32 @@ void DifferentialManualMode::manual()
 {
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_steering_setpoint_s rover_steering_setpoint{};
-	rover_steering_setpoint.timestamp = hrt_absolute_time();
-	rover_steering_setpoint.normalized_steering_setpoint = _param_rd_yaw_stk_gain.get() * math::superexpo<float>
+	surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+	surface_vehicle_steering_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_steering_setpoint.normalized_steering_setpoint = _param_rd_yaw_stk_gain.get() * math::superexpo<float>
 			(manual_control_setpoint.roll, _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-	_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = 0.f;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
+	_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
 }
 
 void DifferentialManualMode::acro()
 {
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = 0.f;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
-	rover_rate_setpoint_s rover_rate_setpoint{};
-	rover_rate_setpoint.timestamp = hrt_absolute_time();
-	rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(manual_control_setpoint.roll,
-						_param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-	_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
+	surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+	surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(manual_control_setpoint.roll,
+			_param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
+	_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 }
 
 void DifferentialManualMode::stab()
@@ -95,38 +95,38 @@ void DifferentialManualMode::stab()
 
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = 0.f;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
 
 	if (fabsf(manual_control_setpoint.roll) > FLT_EPSILON
-	    || fabsf(rover_throttle_setpoint.throttle_body_x) < FLT_EPSILON) {
+	    || fabsf(surface_vehicle_throttle_setpoint.throttle_body_x) < FLT_EPSILON) {
 		_stab_yaw_setpoint = NAN;
 
 		// Rate control
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
-				manual_control_setpoint.roll, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
+					manual_control_setpoint.roll, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 
 		// Set uncontrolled setpoint invalid
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = NAN;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = NAN;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 	} else { // Heading control
 		if (!PX4_ISFINITE(_stab_yaw_setpoint)) {
 			_stab_yaw_setpoint = _vehicle_yaw;
 		}
 
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = _stab_yaw_setpoint;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = _stab_yaw_setpoint;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 	}
 }
 
@@ -156,34 +156,34 @@ void DifferentialManualMode::position()
 		_pos_ctl_course_direction = Vector2f(NAN, NAN);
 
 		// Speed control
-		rover_speed_setpoint_s rover_speed_setpoint{};
-		rover_speed_setpoint.timestamp = hrt_absolute_time();
-		rover_speed_setpoint.speed_body_x = speed_setpoint;
-		_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+		surface_vehicle_speed_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_speed_setpoint.speed_body_x = speed_setpoint;
+		_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
 
 		// Rate control
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
-				manual_control_setpoint.roll, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
+					manual_control_setpoint.roll, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 
 		// Set uncontrolled setpoints invalid
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = NAN;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = NAN;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = NAN;
-		rover_position_setpoint.position_ned[1] = NAN;
-		rover_position_setpoint.start_ned[0] = NAN;
-		rover_position_setpoint.start_ned[1] = NAN;
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.cruising_speed = NAN;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = NAN;
+		surface_vehicle_position_setpoint.position_ned[1] = NAN;
+		surface_vehicle_position_setpoint.start_ned[0] = NAN;
+		surface_vehicle_position_setpoint.start_ned[1] = NAN;
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = NAN;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 
 	} else { // Course control
 		if (!_pos_ctl_course_direction.isAllFinite()) {
@@ -196,16 +196,16 @@ void DifferentialManualMode::position()
 		const float vector_scaling = fabsf(start_to_curr_pos * _pos_ctl_course_direction) + _param_pp_lookahd_max.get();
 		const Vector2f target_waypoint_ned = _pos_ctl_start_position_ned + sign(speed_setpoint) *
 						     vector_scaling * _pos_ctl_course_direction;
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = target_waypoint_ned(0);
-		rover_position_setpoint.position_ned[1] = target_waypoint_ned(1);
-		rover_position_setpoint.start_ned[0] = _pos_ctl_start_position_ned(0);
-		rover_position_setpoint.start_ned[1] = _pos_ctl_start_position_ned(1);
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.cruising_speed = speed_setpoint;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = target_waypoint_ned(0);
+		surface_vehicle_position_setpoint.position_ned[1] = target_waypoint_ned(1);
+		surface_vehicle_position_setpoint.start_ned[0] = _pos_ctl_start_position_ned(0);
+		surface_vehicle_position_setpoint.start_ned[1] = _pos_ctl_start_position_ned(1);
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = speed_setpoint;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 	}
 }
 

src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.hpp

@@ -46,12 +46,12 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/rover_throttle_setpoint.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_rate_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 
 using namespace matrix;
 
@@ -69,12 +69,12 @@ public:
 	~DifferentialManualMode() = default;
 
 	/**
-	 * @brief Publish roverThrottleSetpoint and roverSteeringSetpoint from manualControlSetpoint.
+	 * @brief Publish SurfaceVehicleThrottleSetpoint and SurfaceVehicleSteeringSetpoint from manualControlSetpoint.
 	 */
 	void manual();
 
 	/**
-	 * @brief Generate and publish roverThrottleSetpoint/RoverRateSetpoint from manualControlSetpoint.
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint/SurfaceVehicleRateSetpoint from manualControlSetpoint.
 	 */
 	void acro();
 
@@ -106,12 +106,12 @@ private:
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 
 	// uORB publications
-	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
-	uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
-	uORB::Publication<rover_rate_setpoint_s>     _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
-	uORB::Publication<rover_speed_setpoint_s> _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
-	uORB::Publication<rover_position_setpoint_s> _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<surface_vehicle_throttle_setpoint_s> _surface_vehicle_throttle_setpoint_pub{ORB_ID(surface_vehicle_throttle_setpoint)};
+	uORB::Publication<surface_vehicle_steering_setpoint_s> _surface_vehicle_steering_setpoint_pub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Publication<surface_vehicle_rate_setpoint_s>     _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s> _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s> _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
 
 	// Variables
 	Vector2f _pos_ctl_course_direction{NAN, NAN};

src/modules/rover_differential/DifferentialDriveModes/DifferentialOffboardMode/DifferentialOffboardMode.cpp

@@ -38,10 +38,10 @@ using namespace time_literals;
 DifferentialOffboardMode::DifferentialOffboardMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_rate_setpoint_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
-	_rover_speed_setpoint_pub.advertise();
-	_rover_position_setpoint_pub.advertise();
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
 }
 
 void DifferentialOffboardMode::updateParams()
@@ -58,38 +58,38 @@ void DifferentialOffboardMode::offboardControl()
 	_trajectory_setpoint_sub.copy(&trajectory_setpoint);
 
 	if (offboard_control_mode.position) {
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = trajectory_setpoint.position[0];
-		rover_position_setpoint.position_ned[1] = trajectory_setpoint.position[1];
-		rover_position_setpoint.start_ned[0] = NAN;
-		rover_position_setpoint.start_ned[1] = NAN;
-		rover_position_setpoint.cruising_speed = NAN;
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = trajectory_setpoint.position[0];
+		surface_vehicle_position_setpoint.position_ned[1] = trajectory_setpoint.position[1];
+		surface_vehicle_position_setpoint.start_ned[0] = NAN;
+		surface_vehicle_position_setpoint.start_ned[1] = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = NAN;
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 
 	} else if (offboard_control_mode.velocity) {
 		const Vector2f velocity_ned(trajectory_setpoint.velocity[0], trajectory_setpoint.velocity[1]);
-		rover_speed_setpoint_s rover_speed_setpoint{};
-		rover_speed_setpoint.timestamp = hrt_absolute_time();
-		rover_speed_setpoint.speed_body_x = velocity_ned.norm();
-		_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = atan2f(velocity_ned(1), velocity_ned(0));
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+		surface_vehicle_speed_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_speed_setpoint.speed_body_x = velocity_ned.norm();
+		_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = atan2f(velocity_ned(1), velocity_ned(0));
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 	} else if (offboard_control_mode.attitude) {
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = trajectory_setpoint.yaw;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = trajectory_setpoint.yaw;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 	} else if (offboard_control_mode.body_rate) {
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = trajectory_setpoint.yawspeed;
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = trajectory_setpoint.yawspeed;
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 	}
 }

src/modules/rover_differential/DifferentialDriveModes/DifferentialOffboardMode/DifferentialOffboardMode.hpp

@@ -43,10 +43,10 @@
 // uORB includes
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
-#include <uORB/topics/rover_rate_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 #include <uORB/topics/offboard_control_mode.h>
 #include <uORB/topics/trajectory_setpoint.h>
 
@@ -82,8 +82,8 @@ private:
 	uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
 
 	// uORB publications
-	uORB::Publication<rover_rate_setpoint_s> _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
-	uORB::Publication<rover_speed_setpoint_s> _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
-	uORB::Publication<rover_position_setpoint_s> _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<surface_vehicle_rate_setpoint_s> _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s> _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s> _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
 };

src/modules/rover_differential/DifferentialPosControl/DifferentialPosControl.cpp

@@ -38,8 +38,8 @@ using namespace time_literals;
 DifferentialPosControl::DifferentialPosControl(ModuleParams *parent) : ModuleParams(parent)
 {
 	_pure_pursuit_status_pub.advertise();
-	_rover_speed_setpoint_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
 
 	updateParams();
 }
@@ -97,25 +97,25 @@ void DifferentialPosControl::updatePosControl()
 				speed_setpoint = math::constrain(speed_setpoint, -max_speed, max_speed);
 			}
 
-			rover_speed_setpoint_s rover_speed_setpoint{};
-			rover_speed_setpoint.timestamp = timestamp;
-			rover_speed_setpoint.speed_body_x = speed_setpoint;
-			_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-			rover_attitude_setpoint_s rover_attitude_setpoint{};
-			rover_attitude_setpoint.timestamp = timestamp;
-			rover_attitude_setpoint.yaw_setpoint = speed_setpoint > -FLT_EPSILON ? yaw_setpoint : matrix::wrap_pi(
-					yaw_setpoint + M_PI_F);
-			_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+			surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+			surface_vehicle_speed_setpoint.timestamp = timestamp;
+			surface_vehicle_speed_setpoint.speed_body_x = speed_setpoint;
+			_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+			surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+			surface_vehicle_attitude_setpoint.timestamp = timestamp;
+			surface_vehicle_attitude_setpoint.yaw_setpoint = speed_setpoint > -FLT_EPSILON ? yaw_setpoint : matrix::wrap_pi(
+						yaw_setpoint + M_PI_F);
+			_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 		}  else {
-			rover_speed_setpoint_s rover_speed_setpoint{};
-			rover_speed_setpoint.timestamp = timestamp;
-			rover_speed_setpoint.speed_body_x = 0.f;
-			_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-			rover_attitude_setpoint_s rover_attitude_setpoint{};
-			rover_attitude_setpoint.timestamp = timestamp;
-			rover_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
-			_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+			surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+			surface_vehicle_speed_setpoint.timestamp = timestamp;
+			surface_vehicle_speed_setpoint.speed_body_x = 0.f;
+			_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+			surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+			surface_vehicle_attitude_setpoint.timestamp = timestamp;
+			surface_vehicle_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
+			_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 			if (!_stopped && fabsf(_vehicle_speed) < FLT_EPSILON) {
 				_stopped = true;
@@ -153,15 +153,18 @@ void DifferentialPosControl::updateSubscriptions()
 		_vehicle_speed = velocity_2d.norm() > _param_ro_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
 	}
 
-	if (_rover_position_setpoint_sub.updated()) {
-		rover_position_setpoint_s rover_position_setpoint;
-		_rover_position_setpoint_sub.copy(&rover_position_setpoint);
-		_start_ned = Vector2f(rover_position_setpoint.start_ned[0], rover_position_setpoint.start_ned[1]);
+	if (_surface_vehicle_position_setpoint_sub.updated()) {
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint;
+		_surface_vehicle_position_setpoint_sub.copy(&surface_vehicle_position_setpoint);
+		_start_ned = Vector2f(surface_vehicle_position_setpoint.start_ned[0], surface_vehicle_position_setpoint.start_ned[1]);
 		_start_ned = _start_ned.isAllFinite() ? _start_ned : _curr_pos_ned;
-		_arrival_speed = PX4_ISFINITE(rover_position_setpoint.arrival_speed) ? rover_position_setpoint.arrival_speed : 0.f;
-		_cruising_speed = PX4_ISFINITE(rover_position_setpoint.cruising_speed) ? rover_position_setpoint.cruising_speed :
+		_arrival_speed = PX4_ISFINITE(surface_vehicle_position_setpoint.arrival_speed) ?
+				 surface_vehicle_position_setpoint.arrival_speed : 0.f;
+		_cruising_speed = PX4_ISFINITE(surface_vehicle_position_setpoint.cruising_speed) ?
+				  surface_vehicle_position_setpoint.cruising_speed :
 				  _param_ro_speed_limit.get();
-		_target_waypoint_ned = Vector2f(rover_position_setpoint.position_ned[0], rover_position_setpoint.position_ned[1]);
+		_target_waypoint_ned = Vector2f(surface_vehicle_position_setpoint.position_ned[0],
+						surface_vehicle_position_setpoint.position_ned[1]);
 		_stopped = false;
 	}
 }

src/modules/rover_differential/DifferentialPosControl/DifferentialPosControl.hpp

@@ -45,10 +45,10 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
 #include <uORB/topics/pure_pursuit_status.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
 
@@ -76,7 +76,7 @@ public:
 	~DifferentialPosControl() = default;
 
 	/**
-	 * @brief Generate and publish roverSpeedSetpoint and roverAttitudeSetpoint from roverPositionSetpoint.
+	 * @brief Generate and publish SurfaceVehicleSpeedSetpoint and SurfaceVehicleAttitudeSetpoint from SurfaceVehiclePositionSetpoint.
 	 */
 	void updatePosControl();
 
@@ -106,12 +106,12 @@ private:
 	// uORB subscriptions
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _rover_position_setpoint_sub{ORB_ID(rover_position_setpoint)};
+	uORB::Subscription _surface_vehicle_position_setpoint_sub{ORB_ID(surface_vehicle_position_setpoint)};
 
 	// uORB publications
-	uORB::Publication<rover_speed_setpoint_s> _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s> _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
 	uORB::Publication<pure_pursuit_status_s>     _pure_pursuit_status_pub{ORB_ID(pure_pursuit_status)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
 
 	// Variables
 	Quatf _vehicle_attitude_quaternion{};

src/modules/rover_differential/DifferentialRateControl/DifferentialRateControl.cpp

@@ -37,8 +37,8 @@ using namespace time_literals;
 
 DifferentialRateControl::DifferentialRateControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_steering_setpoint_pub.advertise();
-	_rover_rate_status_pub.advertise();
+	_surface_vehicle_steering_setpoint_pub.advertise();
+	_surface_vehicle_rate_status_pub.advertise();
 	updateParams();
 }
 
@@ -68,10 +68,10 @@ void DifferentialRateControl::updateRateControl()
 				    vehicle_angular_velocity.xyz[2] : 0.f;
 	}
 
-	if (_rover_rate_setpoint_sub.updated()) {
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		_rover_rate_setpoint_sub.copy(&rover_rate_setpoint);
-		_yaw_rate_setpoint = rover_rate_setpoint.yaw_rate_setpoint;
+	if (_surface_vehicle_rate_setpoint_sub.updated()) {
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		_surface_vehicle_rate_setpoint_sub.copy(&surface_vehicle_rate_setpoint);
+		_yaw_rate_setpoint = surface_vehicle_rate_setpoint.yaw_rate_setpoint;
 	}
 
 	if (PX4_ISFINITE(_yaw_rate_setpoint)) {
@@ -81,22 +81,22 @@ void DifferentialRateControl::updateRateControl()
 						    yaw_rate_setpoint, _vehicle_yaw_rate, _param_ro_max_thr_speed.get(), _param_ro_yaw_rate_corr.get(),
 						    _param_ro_yaw_accel_limit.get() * M_DEG_TO_RAD_F,
 						    _param_ro_yaw_decel_limit.get() * M_DEG_TO_RAD_F, _param_rd_wheel_track.get(), dt);
-		rover_steering_setpoint_s rover_steering_setpoint{};
-		rover_steering_setpoint.timestamp = _timestamp;
-		rover_steering_setpoint.normalized_steering_setpoint = speed_diff_normalized;
-		_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
+		surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+		surface_vehicle_steering_setpoint.timestamp = _timestamp;
+		surface_vehicle_steering_setpoint.normalized_steering_setpoint = speed_diff_normalized;
+		_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
 
 	} else {
 		_pid_yaw_rate.resetIntegral();
 	}
 
 	// Publish rate controller status (logging only)
-	rover_rate_status_s rover_rate_status;
-	rover_rate_status.timestamp = _timestamp;
-	rover_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
-	rover_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
-	rover_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
-	_rover_rate_status_pub.publish(rover_rate_status);
+	surface_vehicle_rate_status_s surface_vehicle_rate_status;
+	surface_vehicle_rate_status.timestamp = _timestamp;
+	surface_vehicle_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
+	surface_vehicle_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
+	surface_vehicle_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
+	_surface_vehicle_rate_status_pub.publish(surface_vehicle_rate_status);
 
 }
 

src/modules/rover_differential/DifferentialRateControl/DifferentialRateControl.hpp

@@ -46,9 +46,9 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_rate_setpoint.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_rate_status.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_status.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 
 /**
@@ -65,7 +65,7 @@ public:
 	~DifferentialRateControl() = default;
 
 	/**
-	 * @brief Generate and publish roverSteeringSetpoint from roverRateSetpoint.
+	 * @brief Generate and publish SurfaceVehicleSteeringSetpoint from SurfaceVehicleRateSetpoint.
 	 */
 	void updateRateControl();
 
@@ -89,12 +89,12 @@ protected:
 private:
 
 	// uORB subscriptions
-	uORB::Subscription _rover_rate_setpoint_sub{ORB_ID(rover_rate_setpoint)};
+	uORB::Subscription _surface_vehicle_rate_setpoint_sub{ORB_ID(surface_vehicle_rate_setpoint)};
 	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 
 	// uORB publications
-	uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
-	uORB::Publication<rover_rate_status_s> _rover_rate_status_pub{ORB_ID(rover_rate_status)};
+	uORB::Publication<surface_vehicle_steering_setpoint_s> _surface_vehicle_steering_setpoint_pub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Publication<surface_vehicle_rate_status_s> _surface_vehicle_rate_status_pub{ORB_ID(surface_vehicle_rate_status)};
 
 	// Variables
 	float _vehicle_yaw_rate{0.f};

src/modules/rover_differential/DifferentialSpeedControl/DifferentialSpeedControl.cpp

@@ -37,8 +37,8 @@ using namespace time_literals;
 
 DifferentialSpeedControl::DifferentialSpeedControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_throttle_setpoint_pub.advertise();
-	_rover_speed_status_pub.advertise();
+	_surface_vehicle_throttle_setpoint_pub.advertise();
+	_surface_vehicle_speed_status_pub.advertise();
 	updateParams();
 }
 
@@ -68,25 +68,25 @@ void DifferentialSpeedControl::updateSpeedControl()
 	// Throttle Setpoint
 	if (PX4_ISFINITE(_speed_setpoint)) {
 		const float speed_setpoint = calcSpeedSetpoint();
-		rover_throttle_setpoint_s rover_throttle_setpoint{};
-		rover_throttle_setpoint.timestamp = _timestamp;
-		rover_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_adjusted_speed_setpoint, _pid_speed,
+		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+		surface_vehicle_throttle_setpoint.timestamp = _timestamp;
+		surface_vehicle_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_adjusted_speed_setpoint, _pid_speed,
 				speed_setpoint, _vehicle_speed, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
 				_param_ro_max_thr_speed.get(), dt);
-		rover_throttle_setpoint.throttle_body_y = 0.f;
-		_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
+		surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+		_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
 	}
 
 	// Publish speed controller status (logging only)
-	rover_speed_status_s rover_speed_status;
-	rover_speed_status.timestamp = _timestamp;
-	rover_speed_status.measured_speed_body_x = _vehicle_speed;
-	rover_speed_status.adjusted_speed_body_x_setpoint = _adjusted_speed_setpoint.getState();
-	rover_speed_status.pid_throttle_body_x_integral = _pid_speed.getIntegral();
-	rover_speed_status.measured_speed_body_y = NAN;
-	rover_speed_status.adjusted_speed_body_y_setpoint = NAN;
-	rover_speed_status.pid_throttle_body_y_integral = NAN;
-	_rover_speed_status_pub.publish(rover_speed_status);
+	surface_vehicle_speed_status_s surface_vehicle_speed_status;
+	surface_vehicle_speed_status.timestamp = _timestamp;
+	surface_vehicle_speed_status.measured_speed_body_x = _vehicle_speed;
+	surface_vehicle_speed_status.adjusted_speed_body_x_setpoint = _adjusted_speed_setpoint.getState();
+	surface_vehicle_speed_status.pid_throttle_body_x_integral = _pid_speed.getIntegral();
+	surface_vehicle_speed_status.measured_speed_body_y = NAN;
+	surface_vehicle_speed_status.adjusted_speed_body_y_setpoint = NAN;
+	surface_vehicle_speed_status.pid_throttle_body_y_integral = NAN;
+	_surface_vehicle_speed_status_pub.publish(surface_vehicle_speed_status);
 }
 
 void DifferentialSpeedControl::updateSubscriptions()
@@ -106,10 +106,10 @@ void DifferentialSpeedControl::updateSubscriptions()
 		_vehicle_speed = velocity_2d.norm() > _param_ro_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
 	}
 
-	if (_rover_speed_setpoint_sub.updated()) {
-		rover_speed_setpoint_s rover_speed_setpoint;
-		_rover_speed_setpoint_sub.copy(&rover_speed_setpoint);
-		_speed_setpoint = rover_speed_setpoint.speed_body_x;
+	if (_surface_vehicle_speed_setpoint_sub.updated()) {
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint;
+		_surface_vehicle_speed_setpoint_sub.copy(&surface_vehicle_speed_setpoint);
+		_speed_setpoint = surface_vehicle_speed_setpoint.speed_body_x;
 	}
 
 }
@@ -121,10 +121,10 @@ float DifferentialSpeedControl::calcSpeedSetpoint()
 	const float speed_setpoint_normalized = math::interpolate<float>(speed_setpoint,
 						-_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get(), -1.f, 1.f);
 
-	if (_rover_steering_setpoint_sub.updated()) {
-		rover_steering_setpoint_s rover_steering_setpoint{};
-		_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
-		_normalized_speed_diff = rover_steering_setpoint.normalized_steering_setpoint;
+	if (_surface_vehicle_steering_setpoint_sub.updated()) {
+		surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+		_surface_vehicle_steering_setpoint_sub.copy(&surface_vehicle_steering_setpoint);
+		_normalized_speed_diff = surface_vehicle_steering_setpoint.normalized_steering_setpoint;
 	}
 
 	if (fabsf(speed_setpoint_normalized) > 1.f - fabsf(

src/modules/rover_differential/DifferentialSpeedControl/DifferentialSpeedControl.hpp

@@ -47,10 +47,10 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_throttle_setpoint.h>
-#include <uORB/topics/rover_speed_status.h>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_status.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
 
@@ -70,7 +70,7 @@ public:
 	~DifferentialSpeedControl() = default;
 
 	/**
-	 * @brief Generate and publish RoverThrottleSetpoint from roverSpeedSetpoint.
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint from SurfaceVehicleSpeedSetpoint.
 	 */
 	void updateSpeedControl();
 
@@ -106,12 +106,12 @@ private:
 	// uORB subscriptions
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _rover_speed_setpoint_sub{ORB_ID(rover_speed_setpoint)};
-	uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
+	uORB::Subscription _surface_vehicle_speed_setpoint_sub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Subscription _surface_vehicle_steering_setpoint_sub{ORB_ID(surface_vehicle_steering_setpoint)};
 
 	// uORB publications
-	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
-	uORB::Publication<rover_speed_status_s> _rover_speed_status_pub{ORB_ID(rover_speed_status)};
+	uORB::Publication<surface_vehicle_throttle_setpoint_s> _surface_vehicle_throttle_setpoint_pub{ORB_ID(surface_vehicle_throttle_setpoint)};
+	uORB::Publication<surface_vehicle_speed_status_s> _surface_vehicle_speed_status_pub{ORB_ID(surface_vehicle_speed_status)};
 
 	// Variables
 	hrt_abstime _timestamp{0};

src/modules/rover_mecanum/MecanumActControl/MecanumActControl.cpp

@@ -57,17 +57,17 @@ void MecanumActControl::updateActControl()
 	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
 
 	// Motor control
-	if (_rover_throttle_setpoint_sub.updated()) {
-		rover_throttle_setpoint_s rover_throttle_setpoint{};
-		_rover_throttle_setpoint_sub.copy(&rover_throttle_setpoint);
-		_throttle_x_setpoint = rover_throttle_setpoint.throttle_body_x;
-		_throttle_y_setpoint = rover_throttle_setpoint.throttle_body_y;
+	if (_surface_vehicle_throttle_setpoint_sub.updated()) {
+		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+		_surface_vehicle_throttle_setpoint_sub.copy(&surface_vehicle_throttle_setpoint);
+		_throttle_x_setpoint = surface_vehicle_throttle_setpoint.throttle_body_x;
+		_throttle_y_setpoint = surface_vehicle_throttle_setpoint.throttle_body_y;
 	}
 
-	if (_rover_steering_setpoint_sub.updated()) {
-		rover_steering_setpoint_s rover_steering_setpoint{};
-		_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
-		_speed_diff_setpoint = rover_steering_setpoint.normalized_steering_setpoint;
+	if (_surface_vehicle_steering_setpoint_sub.updated()) {
+		surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+		_surface_vehicle_steering_setpoint_sub.copy(&surface_vehicle_steering_setpoint);
+		_speed_diff_setpoint = surface_vehicle_steering_setpoint.normalized_steering_setpoint;
 	}
 
 	if (PX4_ISFINITE(_throttle_x_setpoint) && PX4_ISFINITE(_throttle_y_setpoint) && PX4_ISFINITE(_speed_diff_setpoint)) {

src/modules/rover_mecanum/MecanumActControl/MecanumActControl.hpp

@@ -45,8 +45,8 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/actuator_motors.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
 
 /**
  * @brief Class for mecanum actuator control.
@@ -62,7 +62,7 @@ public:
 	~MecanumActControl() = default;
 
 	/**
-	 * @brief Generate and publish actuatorMotors setpoints from roverThrottleSetpoint/roverSteeringSetpoint.
+	 * @brief Generate and publish actuatorMotors setpoints from SurfaceVehicleThrottleSetpoint/SurfaceVehicleSteeringSetpoint.
 	 */
 	void updateActControl();
 
@@ -89,8 +89,8 @@ private:
 
 	// uORB subscriptions
 	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
-	uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
-	uORB::Subscription _rover_throttle_setpoint_sub{ORB_ID(rover_throttle_setpoint)};
+	uORB::Subscription _surface_vehicle_steering_setpoint_sub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Subscription _surface_vehicle_throttle_setpoint_sub{ORB_ID(surface_vehicle_throttle_setpoint)};
 
 	// uORB publications
 	uORB::Publication<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};

src/modules/rover_mecanum/MecanumAttControl/MecanumAttControl.cpp

@@ -37,8 +37,8 @@ using namespace time_literals;
 
 MecanumAttControl::MecanumAttControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_rate_setpoint_pub.advertise();
-	_rover_attitude_status_pub.advertise();
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_status_pub.advertise();
 	updateParams();
 }
 
@@ -72,28 +72,28 @@ void MecanumAttControl::updateAttControl()
 		_vehicle_yaw = matrix::Eulerf(vehicle_attitude_quaternion).psi();
 	}
 
-	if (_rover_attitude_setpoint_sub.updated()) {
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		_rover_attitude_setpoint_sub.copy(&rover_attitude_setpoint);
-		_yaw_setpoint = rover_attitude_setpoint.yaw_setpoint;
+	if (_surface_vehicle_attitude_setpoint_sub.updated()) {
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		_surface_vehicle_attitude_setpoint_sub.copy(&surface_vehicle_attitude_setpoint);
+		_yaw_setpoint = surface_vehicle_attitude_setpoint.yaw_setpoint;
 	}
 
 	if (PX4_ISFINITE(_yaw_setpoint)) {
 		const float yaw_rate_setpoint = RoverControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, _max_yaw_rate,
 						_vehicle_yaw, _yaw_setpoint, dt);
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = _timestamp;
-		rover_rate_setpoint.yaw_rate_setpoint = math::constrain(yaw_rate_setpoint, -_max_yaw_rate, _max_yaw_rate);
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = _timestamp;
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = math::constrain(yaw_rate_setpoint, -_max_yaw_rate, _max_yaw_rate);
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 
 	}
 
 	// Publish attitude controller status (logging only)
-	rover_attitude_status_s rover_attitude_status;
-	rover_attitude_status.timestamp = _timestamp;
-	rover_attitude_status.measured_yaw = _vehicle_yaw;
-	rover_attitude_status.adjusted_yaw_setpoint = matrix::wrap_pi(_adjusted_yaw_setpoint.getState());
-	_rover_attitude_status_pub.publish(rover_attitude_status);
+	surface_vehicle_attitude_status_s surface_vehicle_attitude_status;
+	surface_vehicle_attitude_status.timestamp = _timestamp;
+	surface_vehicle_attitude_status.measured_yaw = _vehicle_yaw;
+	surface_vehicle_attitude_status.adjusted_yaw_setpoint = matrix::wrap_pi(_adjusted_yaw_setpoint.getState());
+	_surface_vehicle_attitude_status_pub.publish(surface_vehicle_attitude_status);
 
 }
 

src/modules/rover_mecanum/MecanumAttControl/MecanumAttControl.hpp

@@ -47,10 +47,10 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/rover_attitude_status.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_status.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
 
 /**
  * @brief Class for mecanum attitude control.
@@ -66,7 +66,7 @@ public:
 	~MecanumAttControl() = default;
 
 	/**
-	 * @brief Generate and publish roverRateSetpoint from roverAttitudeSetpoint.
+	 * @brief Generate and publish SurfaceVehicleRateSetpoint from SurfaceVehicleAttitudeSetpoint.
 	 */
 	void updateAttControl();
 
@@ -91,11 +91,11 @@ private:
 
 	// uORB subscriptions
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
-	uORB::Subscription _rover_attitude_setpoint_sub{ORB_ID(rover_attitude_setpoint)};
+	uORB::Subscription _surface_vehicle_attitude_setpoint_sub{ORB_ID(surface_vehicle_attitude_setpoint)};
 
 	// uORB publications
-	uORB::Publication<rover_rate_setpoint_s>   _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
-	uORB::Publication<rover_attitude_status_s> _rover_attitude_status_pub{ORB_ID(rover_attitude_status)};
+	uORB::Publication<surface_vehicle_rate_setpoint_s>   _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_status_s> _surface_vehicle_attitude_status_pub{ORB_ID(surface_vehicle_attitude_status)};
 
 	// Variables
 	float _vehicle_yaw{0.f};

src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.cpp

@@ -38,7 +38,7 @@ using namespace time_literals;
 MecanumAutoMode::MecanumAutoMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_position_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
 }
 
 void MecanumAutoMode::updateParams()
@@ -78,18 +78,18 @@ void MecanumAutoMode::autoControl()
 		float cruising_speed = position_setpoint_triplet.current.cruising_speed > 0.f ? math::constrain(
 					       position_setpoint_triplet.current.cruising_speed, 0.f, _param_ro_speed_limit.get()) : _param_ro_speed_limit.get();
 
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = curr_wp_ned(0);
-		rover_position_setpoint.position_ned[1] = curr_wp_ned(1);
-		rover_position_setpoint.start_ned[0] = prev_wp_ned(0);
-		rover_position_setpoint.start_ned[1] = prev_wp_ned(1);
-		rover_position_setpoint.arrival_speed = arrivalSpeed(cruising_speed, waypoint_transition_angle,
-							_param_ro_speed_limit.get(), _param_ro_speed_red.get(), curr_wp_type);
-		rover_position_setpoint.cruising_speed = cruising_speed;
-		rover_position_setpoint.yaw = PX4_ISFINITE(position_setpoint_triplet.current.yaw) ?
-					      position_setpoint_triplet.current.yaw : NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = curr_wp_ned(0);
+		surface_vehicle_position_setpoint.position_ned[1] = curr_wp_ned(1);
+		surface_vehicle_position_setpoint.start_ned[0] = prev_wp_ned(0);
+		surface_vehicle_position_setpoint.start_ned[1] = prev_wp_ned(1);
+		surface_vehicle_position_setpoint.arrival_speed = arrivalSpeed(cruising_speed, waypoint_transition_angle,
+				_param_ro_speed_limit.get(), _param_ro_speed_red.get(), curr_wp_type);
+		surface_vehicle_position_setpoint.cruising_speed = cruising_speed;
+		surface_vehicle_position_setpoint.yaw = PX4_ISFINITE(position_setpoint_triplet.current.yaw) ?
+							position_setpoint_triplet.current.yaw : NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 	}
 }
 

src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.hpp

@@ -45,7 +45,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/position_setpoint_triplet.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 
 /**
  * @brief Class for Mecanum auto mode.
@@ -61,7 +61,7 @@ public:
 	~MecanumAutoMode() = default;
 
 	/**
-	 * @brief Generate and publish roverPositionSetpoint from positionSetpointTriplet.
+	 * @brief Generate and publish SurfaceVehiclePositionSetpoint from positionSetpointTriplet.
 	 */
 	void autoControl();
 
@@ -90,7 +90,7 @@ private:
 	uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)};
 
 	// uORB publications
-	uORB::Publication<rover_position_setpoint_s>    _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s>    _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::RO_SPEED_LIM>) _param_ro_speed_limit,

src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.cpp

@@ -38,12 +38,12 @@ using namespace time_literals;
 MecanumManualMode::MecanumManualMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_throttle_setpoint_pub.advertise();
-	_rover_steering_setpoint_pub.advertise();
-	_rover_rate_setpoint_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
-	_rover_speed_setpoint_pub.advertise();
-	_rover_position_setpoint_pub.advertise();
+	_surface_vehicle_throttle_setpoint_pub.advertise();
+	_surface_vehicle_steering_setpoint_pub.advertise();
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
 }
 
 void MecanumManualMode::updateParams()
@@ -56,32 +56,32 @@ void MecanumManualMode::manual()
 {
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_steering_setpoint_s rover_steering_setpoint{};
-	rover_steering_setpoint.timestamp = hrt_absolute_time();
-	rover_steering_setpoint.normalized_steering_setpoint = _param_rm_yaw_stk_gain.get() * math::superexpo<float>
+	surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+	surface_vehicle_steering_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_steering_setpoint.normalized_steering_setpoint = _param_rm_yaw_stk_gain.get() * math::superexpo<float>
 			(manual_control_setpoint.yaw, _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-	_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = manual_control_setpoint.roll;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
+	_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = manual_control_setpoint.roll;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
 }
 
 void MecanumManualMode::acro()
 {
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = manual_control_setpoint.roll;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
-	rover_rate_setpoint_s rover_rate_setpoint{};
-	rover_rate_setpoint.timestamp = hrt_absolute_time();
-	rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(manual_control_setpoint.yaw,
-						_param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-	_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = manual_control_setpoint.roll;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
+	surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+	surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(manual_control_setpoint.yaw,
+			_param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
+	_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 }
 
 void MecanumManualMode::stab()
@@ -95,37 +95,37 @@ void MecanumManualMode::stab()
 
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = manual_control_setpoint.roll;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = manual_control_setpoint.roll;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
 
 	if (fabsf(manual_control_setpoint.yaw) > FLT_EPSILON) {
 		_stab_yaw_setpoint = NAN;
 
 		// Rate control
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
-				manual_control_setpoint.yaw, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
+					manual_control_setpoint.yaw, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 
 		// Set uncontrolled setpoint invalid
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = NAN;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = NAN;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 	} else { // Heading control
 		if (!PX4_ISFINITE(_stab_yaw_setpoint)) {
 			_stab_yaw_setpoint = _vehicle_yaw;
 		}
 
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = _stab_yaw_setpoint;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = _stab_yaw_setpoint;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 	}
 }
 
@@ -158,35 +158,35 @@ void MecanumManualMode::position()
 		_pos_ctl_yaw_setpoint = NAN;
 
 		// Speed control
-		rover_speed_setpoint_s rover_speed_setpoint{};
-		rover_speed_setpoint.timestamp = hrt_absolute_time();
-		rover_speed_setpoint.speed_body_x = velocity_setpoint_body(0);
-		rover_speed_setpoint.speed_body_y = velocity_setpoint_body(1);
-		_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+		surface_vehicle_speed_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_speed_setpoint.speed_body_x = velocity_setpoint_body(0);
+		surface_vehicle_speed_setpoint.speed_body_y = velocity_setpoint_body(1);
+		_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
 
 		// Rate control
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
-				manual_control_setpoint.yaw, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
+					manual_control_setpoint.yaw, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 
 		// Set uncontrolled setpoints invalid
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = NAN;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = NAN;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = NAN;
-		rover_position_setpoint.position_ned[1] = NAN;
-		rover_position_setpoint.start_ned[0] = NAN;
-		rover_position_setpoint.start_ned[1] = NAN;
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.cruising_speed = NAN;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = NAN;
+		surface_vehicle_position_setpoint.position_ned[1] = NAN;
+		surface_vehicle_position_setpoint.start_ned[0] = NAN;
+		surface_vehicle_position_setpoint.start_ned[1] = NAN;
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = NAN;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 
 	} else { // Course control
 		const Vector3f velocity_setpoint_ned = _vehicle_attitude_quaternion.rotateVector(velocity_setpoint_body);
@@ -210,16 +210,16 @@ void MecanumManualMode::position()
 		const Vector2f start_to_curr_pos = _curr_pos_ned - _pos_ctl_start_position_ned;
 		const float vector_scaling = fabsf(start_to_curr_pos * _pos_ctl_course_direction) + _param_pp_lookahd_max.get();
 		const Vector2f target_waypoint_ned = _pos_ctl_start_position_ned + vector_scaling * _pos_ctl_course_direction;
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = target_waypoint_ned(0);
-		rover_position_setpoint.position_ned[1] = target_waypoint_ned(1);
-		rover_position_setpoint.start_ned[0] = NAN;
-		rover_position_setpoint.start_ned[1] = NAN;
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.cruising_speed = velocity_setpoint_ned.norm();
-		rover_position_setpoint.yaw = _pos_ctl_yaw_setpoint;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = target_waypoint_ned(0);
+		surface_vehicle_position_setpoint.position_ned[1] = target_waypoint_ned(1);
+		surface_vehicle_position_setpoint.start_ned[0] = NAN;
+		surface_vehicle_position_setpoint.start_ned[1] = NAN;
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = velocity_setpoint_ned.norm();
+		surface_vehicle_position_setpoint.yaw = _pos_ctl_yaw_setpoint;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 	}
 }
 

src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.hpp

@@ -46,12 +46,12 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/rover_throttle_setpoint.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_rate_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 
 using namespace matrix;
 
@@ -69,12 +69,12 @@ public:
 	~MecanumManualMode() = default;
 
 	/**
-	 * @brief Publish roverThrottleSetpoint and roverSteeringSetpoint from manualControlSetpoint.
+	 * @brief Publish SurfaceVehicleThrottleSetpoint and SurfaceVehicleSteeringSetpoint from manualControlSetpoint.
 	 */
 	void manual();
 
 	/**
-	 * @brief Generate and publish roverThrottleSetpoint/RoverRateSetpoint from manualControlSetpoint.
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint/SurfaceVehicleRateSetpoint from manualControlSetpoint.
 	 */
 	void acro();
 
@@ -106,12 +106,12 @@ private:
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 
 	// uORB publications
-	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
-	uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
-	uORB::Publication<rover_rate_setpoint_s>     _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
-	uORB::Publication<rover_speed_setpoint_s> _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
-	uORB::Publication<rover_position_setpoint_s> _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<surface_vehicle_throttle_setpoint_s> _surface_vehicle_throttle_setpoint_pub{ORB_ID(surface_vehicle_throttle_setpoint)};
+	uORB::Publication<surface_vehicle_steering_setpoint_s> _surface_vehicle_steering_setpoint_pub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Publication<surface_vehicle_rate_setpoint_s>     _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s> _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s> _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
 
 	// Variables
 	Vector2f _pos_ctl_course_direction{NAN, NAN};

src/modules/rover_mecanum/MecanumDriveModes/MecanumOffboardMode/MecanumOffboardMode.cpp

@@ -38,10 +38,10 @@ using namespace time_literals;
 MecanumOffboardMode::MecanumOffboardMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_rate_setpoint_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
-	_rover_speed_setpoint_pub.advertise();
-	_rover_position_setpoint_pub.advertise();
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
 }
 
 void MecanumOffboardMode::updateParams()
@@ -58,16 +58,16 @@ void MecanumOffboardMode::offboardControl()
 	_trajectory_setpoint_sub.copy(&trajectory_setpoint);
 
 	if (offboard_control_mode.position) {
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = trajectory_setpoint.position[0];
-		rover_position_setpoint.position_ned[1] = trajectory_setpoint.position[1];
-		rover_position_setpoint.start_ned[0] = NAN;
-		rover_position_setpoint.start_ned[1] = NAN;
-		rover_position_setpoint.cruising_speed = NAN;
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = trajectory_setpoint.position[0];
+		surface_vehicle_position_setpoint.position_ned[1] = trajectory_setpoint.position[1];
+		surface_vehicle_position_setpoint.start_ned[0] = NAN;
+		surface_vehicle_position_setpoint.start_ned[1] = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = NAN;
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 
 	} else if (offboard_control_mode.velocity) {
 		if (_vehicle_attitude_sub.updated()) {
@@ -78,26 +78,26 @@ void MecanumOffboardMode::offboardControl()
 
 		const Vector3f velocity_ned(trajectory_setpoint.velocity[0], trajectory_setpoint.velocity[1], 0.f);
 		const Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_ned);
-		rover_speed_setpoint_s rover_speed_setpoint{};
-		rover_speed_setpoint.timestamp = hrt_absolute_time();
-		rover_speed_setpoint.speed_body_x = velocity_in_body_frame(0);
-		rover_speed_setpoint.speed_body_y = velocity_in_body_frame(1);
-		_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = atan2f(velocity_ned(1), velocity_ned(0));
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+		surface_vehicle_speed_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_speed_setpoint.speed_body_x = velocity_in_body_frame(0);
+		surface_vehicle_speed_setpoint.speed_body_y = velocity_in_body_frame(1);
+		_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = atan2f(velocity_ned(1), velocity_ned(0));
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 	} else if (offboard_control_mode.attitude) {
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = trajectory_setpoint.yaw;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = trajectory_setpoint.yaw;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 	} else if (offboard_control_mode.body_rate) {
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = trajectory_setpoint.yawspeed;
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = trajectory_setpoint.yawspeed;
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 	}
 }

src/modules/rover_mecanum/MecanumDriveModes/MecanumOffboardMode/MecanumOffboardMode.hpp

@@ -43,10 +43,10 @@
 // uORB includes
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
-#include <uORB/topics/rover_rate_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 #include <uORB/topics/offboard_control_mode.h>
 #include <uORB/topics/trajectory_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
@@ -84,10 +84,10 @@ private:
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 
 	// uORB publications
-	uORB::Publication<rover_rate_setpoint_s>     _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
-	uORB::Publication<rover_speed_setpoint_s> _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
-	uORB::Publication<rover_position_setpoint_s> _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<surface_vehicle_rate_setpoint_s>     _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s> _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s> _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
 
 	Quatf _vehicle_attitude_quaternion{};
 };

src/modules/rover_mecanum/MecanumPosControl/MecanumPosControl.cpp

@@ -37,9 +37,9 @@ using namespace time_literals;
 
 MecanumPosControl::MecanumPosControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_speed_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
 	_pure_pursuit_status_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
 
 	updateParams();
 }
@@ -84,26 +84,26 @@ void MecanumPosControl::updatePosControl()
 							       speed_setpoint * sinf(bearing_setpoint), 0.f);
 			const Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame);
 
-			rover_speed_setpoint_s rover_speed_setpoint{};
-			rover_speed_setpoint.timestamp = timestamp;
-			rover_speed_setpoint.speed_body_x = velocity_in_body_frame(0);
-			rover_speed_setpoint.speed_body_y = velocity_in_body_frame(1);
-			_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-			rover_attitude_setpoint_s rover_attitude_setpoint{};
-			rover_attitude_setpoint.timestamp = timestamp;
-			rover_attitude_setpoint.yaw_setpoint = _yaw_setpoint;
-			_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+			surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+			surface_vehicle_speed_setpoint.timestamp = timestamp;
+			surface_vehicle_speed_setpoint.speed_body_x = velocity_in_body_frame(0);
+			surface_vehicle_speed_setpoint.speed_body_y = velocity_in_body_frame(1);
+			_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+			surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+			surface_vehicle_attitude_setpoint.timestamp = timestamp;
+			surface_vehicle_attitude_setpoint.yaw_setpoint = _yaw_setpoint;
+			_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 		} else {
-			rover_speed_setpoint_s rover_speed_setpoint{};
-			rover_speed_setpoint.timestamp = timestamp;
-			rover_speed_setpoint.speed_body_x = 0.f;
-			rover_speed_setpoint.speed_body_y = 0.f;
-			_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-			rover_attitude_setpoint_s rover_attitude_setpoint{};
-			rover_attitude_setpoint.timestamp = timestamp;
-			rover_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
-			_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+			surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+			surface_vehicle_speed_setpoint.timestamp = timestamp;
+			surface_vehicle_speed_setpoint.speed_body_x = 0.f;
+			surface_vehicle_speed_setpoint.speed_body_y = 0.f;
+			_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+			surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+			surface_vehicle_attitude_setpoint.timestamp = timestamp;
+			surface_vehicle_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
+			_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 
 			if (!_stopped && fabsf(_vehicle_speed) < FLT_EPSILON) {
 				_stopped = true;
@@ -138,15 +138,18 @@ void MecanumPosControl::updateSubscriptions()
 		_vehicle_speed = velocity_2d.norm() > _param_ro_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
 	}
 
-	if (_rover_position_setpoint_sub.updated()) {
-		rover_position_setpoint_s rover_position_setpoint;
-		_rover_position_setpoint_sub.copy(&rover_position_setpoint);
-		_start_ned = Vector2f(rover_position_setpoint.start_ned[0], rover_position_setpoint.start_ned[1]);
+	if (_surface_vehicle_position_setpoint_sub.updated()) {
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint;
+		_surface_vehicle_position_setpoint_sub.copy(&surface_vehicle_position_setpoint);
+		_start_ned = Vector2f(surface_vehicle_position_setpoint.start_ned[0], surface_vehicle_position_setpoint.start_ned[1]);
 		_start_ned = _start_ned.isAllFinite() ? _start_ned : _curr_pos_ned;
-		_arrival_speed = PX4_ISFINITE(rover_position_setpoint.arrival_speed) ? rover_position_setpoint.arrival_speed : 0.f;
-		_cruising_speed = PX4_ISFINITE(rover_position_setpoint.cruising_speed) ? rover_position_setpoint.cruising_speed :
+		_arrival_speed = PX4_ISFINITE(surface_vehicle_position_setpoint.arrival_speed) ?
+				 surface_vehicle_position_setpoint.arrival_speed : 0.f;
+		_cruising_speed = PX4_ISFINITE(surface_vehicle_position_setpoint.cruising_speed) ?
+				  surface_vehicle_position_setpoint.cruising_speed :
 				  _param_ro_speed_limit.get();
-		_target_waypoint_ned = Vector2f(rover_position_setpoint.position_ned[0], rover_position_setpoint.position_ned[1]);
+		_target_waypoint_ned = Vector2f(surface_vehicle_position_setpoint.position_ned[0],
+						surface_vehicle_position_setpoint.position_ned[1]);
 		_stopped = false;
 	}
 }

src/modules/rover_mecanum/MecanumPosControl/MecanumPosControl.hpp

@@ -46,9 +46,9 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/pure_pursuit_status.h>
@@ -69,7 +69,7 @@ public:
 	~MecanumPosControl() = default;
 
 	/**
-	 * @brief Generate and publish roverSpeedSetpoint and roverAttitudeSetpoint from roverPositionSetpoint.
+	 * @brief Generate and publish SurfaceVehicleSpeedSetpoint and SurfaceVehicleAttitudeSetpoint from SurfaceVehiclePositionSetpoint.
 	 */
 	void updatePosControl();
 
@@ -101,12 +101,12 @@ private:
 	// uORB subscriptions
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _rover_position_setpoint_sub{ORB_ID(rover_position_setpoint)};
+	uORB::Subscription _surface_vehicle_position_setpoint_sub{ORB_ID(surface_vehicle_position_setpoint)};
 
 	// uORB publications
-	uORB::Publication<rover_speed_setpoint_s>    _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s>    _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
 	uORB::Publication<pure_pursuit_status_s>     _pure_pursuit_status_pub{ORB_ID(pure_pursuit_status)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
 
 	// Variables
 	Quatf _vehicle_attitude_quaternion{};

src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.cpp

@@ -37,8 +37,8 @@ using namespace time_literals;
 
 MecanumRateControl::MecanumRateControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_steering_setpoint_pub.advertise();
-	_rover_rate_status_pub.advertise();
+	_surface_vehicle_steering_setpoint_pub.advertise();
+	_surface_vehicle_rate_status_pub.advertise();
 	updateParams();
 }
 
@@ -68,10 +68,10 @@ void MecanumRateControl::updateRateControl()
 				    vehicle_angular_velocity.xyz[2] : 0.f;
 	}
 
-	if (_rover_rate_setpoint_sub.updated()) {
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		_rover_rate_setpoint_sub.copy(&rover_rate_setpoint);
-		_yaw_rate_setpoint = rover_rate_setpoint.yaw_rate_setpoint;
+	if (_surface_vehicle_rate_setpoint_sub.updated()) {
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		_surface_vehicle_rate_setpoint_sub.copy(&surface_vehicle_rate_setpoint);
+		_yaw_rate_setpoint = surface_vehicle_rate_setpoint.yaw_rate_setpoint;
 	}
 
 	if (PX4_ISFINITE(_yaw_rate_setpoint)) {
@@ -81,22 +81,22 @@ void MecanumRateControl::updateRateControl()
 						    yaw_rate_setpoint, _vehicle_yaw_rate, _param_ro_max_thr_speed.get(), _param_ro_yaw_rate_corr.get(),
 						    _param_ro_yaw_accel_limit.get() * M_DEG_TO_RAD_F,
 						    _param_ro_yaw_decel_limit.get() * M_DEG_TO_RAD_F, _param_rm_wheel_track.get(), dt);
-		rover_steering_setpoint_s rover_steering_setpoint{};
-		rover_steering_setpoint.timestamp = _timestamp;
-		rover_steering_setpoint.normalized_steering_setpoint = speed_diff_normalized;
-		_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
+		surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+		surface_vehicle_steering_setpoint.timestamp = _timestamp;
+		surface_vehicle_steering_setpoint.normalized_steering_setpoint = speed_diff_normalized;
+		_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
 
 	} else {
 		_pid_yaw_rate.resetIntegral();
 	}
 
 	// Publish rate controller status (logging only)
-	rover_rate_status_s rover_rate_status;
-	rover_rate_status.timestamp = _timestamp;
-	rover_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
-	rover_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
-	rover_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
-	_rover_rate_status_pub.publish(rover_rate_status);
+	surface_vehicle_rate_status_s surface_vehicle_rate_status;
+	surface_vehicle_rate_status.timestamp = _timestamp;
+	surface_vehicle_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
+	surface_vehicle_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
+	surface_vehicle_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
+	_surface_vehicle_rate_status_pub.publish(surface_vehicle_rate_status);
 
 }
 

src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.hpp

@@ -46,10 +46,10 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_rate_status.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_status.h>
 
 /**
  * @brief Class for mecanum rate control.
@@ -65,7 +65,7 @@ public:
 	~MecanumRateControl() = default;
 
 	/**
-	 * @brief Generate and publish roverSteeringSetpoint from roverRateSetpoint.
+	 * @brief Generate and publish SurfaceVehicleSteeringSetpoint from SurfaceVehicleRateSetpoint.
 	 */
 	void updateRateControl();
 
@@ -89,12 +89,12 @@ protected:
 private:
 
 	// uORB subscriptions
-	uORB::Subscription _rover_rate_setpoint_sub{ORB_ID(rover_rate_setpoint)};
+	uORB::Subscription _surface_vehicle_rate_setpoint_sub{ORB_ID(surface_vehicle_rate_setpoint)};
 	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 
 	// uORB publications
-	uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
-	uORB::Publication<rover_rate_status_s>       _rover_rate_status_pub{ORB_ID(rover_rate_status)};
+	uORB::Publication<surface_vehicle_steering_setpoint_s> _surface_vehicle_steering_setpoint_pub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Publication<surface_vehicle_rate_status_s>       _surface_vehicle_rate_status_pub{ORB_ID(surface_vehicle_rate_status)};
 
 	// Variables
 	hrt_abstime _timestamp{0};

src/modules/rover_mecanum/MecanumSpeedControl/MecanumSpeedControl.cpp

@@ -37,8 +37,8 @@ using namespace time_literals;
 
 MecanumSpeedControl::MecanumSpeedControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_throttle_setpoint_pub.advertise();
-	_rover_speed_status_pub.advertise();
+	_surface_vehicle_throttle_setpoint_pub.advertise();
+	_surface_vehicle_speed_status_pub.advertise();
 	updateParams();
 }
 
@@ -72,29 +72,29 @@ void MecanumSpeedControl::updateSpeedControl()
 	// Throttle Setpoints
 	if (PX4_ISFINITE(_speed_x_setpoint) && PX4_ISFINITE(_speed_y_setpoint)) {
 		Vector2f speed_setpoint = calcSpeedSetpoint();
-		rover_throttle_setpoint_s rover_throttle_setpoint{};
-		rover_throttle_setpoint.timestamp = _timestamp;
+		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+		surface_vehicle_throttle_setpoint.timestamp = _timestamp;
 
-		rover_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_adjusted_speed_x_setpoint, _pid_speed_x,
+		surface_vehicle_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_adjusted_speed_x_setpoint, _pid_speed_x,
 				speed_setpoint(0), _vehicle_speed_body_x, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
 				_param_ro_max_thr_speed.get(), dt);
-		rover_throttle_setpoint.throttle_body_y = RoverControl::speedControl(_adjusted_speed_y_setpoint, _pid_speed_y,
+		surface_vehicle_throttle_setpoint.throttle_body_y = RoverControl::speedControl(_adjusted_speed_y_setpoint, _pid_speed_y,
 				speed_setpoint(1), _vehicle_speed_body_y, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
 				_param_ro_max_thr_speed.get(), dt);
-		_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
+		_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
 
 	}
 
 	// Publish position controller status (logging only)
-	rover_speed_status_s rover_speed_status;
-	rover_speed_status.timestamp = _timestamp;
-	rover_speed_status.measured_speed_body_x = _vehicle_speed_body_x;
-	rover_speed_status.adjusted_speed_body_x_setpoint = _adjusted_speed_x_setpoint.getState();
-	rover_speed_status.measured_speed_body_y = _vehicle_speed_body_y;
-	rover_speed_status.adjusted_speed_body_y_setpoint = _adjusted_speed_y_setpoint.getState();
-	rover_speed_status.pid_throttle_body_x_integral = _pid_speed_x.getIntegral();
-	rover_speed_status.pid_throttle_body_y_integral = _pid_speed_y.getIntegral();
-	_rover_speed_status_pub.publish(rover_speed_status);
+	surface_vehicle_speed_status_s surface_vehicle_speed_status;
+	surface_vehicle_speed_status.timestamp = _timestamp;
+	surface_vehicle_speed_status.measured_speed_body_x = _vehicle_speed_body_x;
+	surface_vehicle_speed_status.adjusted_speed_body_x_setpoint = _adjusted_speed_x_setpoint.getState();
+	surface_vehicle_speed_status.measured_speed_body_y = _vehicle_speed_body_y;
+	surface_vehicle_speed_status.adjusted_speed_body_y_setpoint = _adjusted_speed_y_setpoint.getState();
+	surface_vehicle_speed_status.pid_throttle_body_x_integral = _pid_speed_x.getIntegral();
+	surface_vehicle_speed_status.pid_throttle_body_y_integral = _pid_speed_y.getIntegral();
+	_surface_vehicle_speed_status_pub.publish(surface_vehicle_speed_status);
 }
 
 void MecanumSpeedControl::updateSubscriptions()
@@ -115,20 +115,20 @@ void MecanumSpeedControl::updateSubscriptions()
 		_vehicle_speed_body_y = fabsf(velocity_in_body_frame(1)) > _param_ro_speed_th.get() ? velocity_in_body_frame(1) : 0.f;
 	}
 
-	if (_rover_speed_setpoint_sub.updated()) {
-		rover_speed_setpoint_s rover_speed_setpoint;
-		_rover_speed_setpoint_sub.copy(&rover_speed_setpoint);
-		_speed_x_setpoint = rover_speed_setpoint.speed_body_x;
-		_speed_y_setpoint = rover_speed_setpoint.speed_body_y;
+	if (_surface_vehicle_speed_setpoint_sub.updated()) {
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint;
+		_surface_vehicle_speed_setpoint_sub.copy(&surface_vehicle_speed_setpoint);
+		_speed_x_setpoint = surface_vehicle_speed_setpoint.speed_body_x;
+		_speed_y_setpoint = surface_vehicle_speed_setpoint.speed_body_y;
 	}
 }
 
 Vector2f MecanumSpeedControl::calcSpeedSetpoint()
 {
-	if (_rover_steering_setpoint_sub.updated()) {
-		rover_steering_setpoint_s rover_steering_setpoint{};
-		_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
-		_normalized_speed_diff = rover_steering_setpoint.normalized_steering_setpoint;
+	if (_surface_vehicle_steering_setpoint_sub.updated()) {
+		surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+		_surface_vehicle_steering_setpoint_sub.copy(&surface_vehicle_steering_setpoint);
+		_normalized_speed_diff = surface_vehicle_steering_setpoint.normalized_steering_setpoint;
 	}
 
 	Vector2f speed_setpoint = Vector2f(_speed_x_setpoint, _speed_y_setpoint);

src/modules/rover_mecanum/MecanumSpeedControl/MecanumSpeedControl.hpp

@@ -47,10 +47,10 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_throttle_setpoint.h>
-#include <uORB/topics/rover_speed_status.h>
-#include <uORB/topics/rover_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_status.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
 
@@ -70,7 +70,7 @@ public:
 	~MecanumSpeedControl() = default;
 
 	/**
-	 * @brief Generate and publish RoverThrottleSetpoint from roverSpeedSetpoint.
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint from SurfaceVehicleSpeedSetpoint.
 	 */
 	void updateSpeedControl();
 
@@ -106,12 +106,12 @@ private:
 	// uORB subscriptions
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _rover_speed_setpoint_sub{ORB_ID(rover_speed_setpoint)};
-	uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
+	uORB::Subscription _surface_vehicle_speed_setpoint_sub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Subscription _surface_vehicle_steering_setpoint_sub{ORB_ID(surface_vehicle_steering_setpoint)};
 
 	// uORB publications
-	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
-	uORB::Publication<rover_speed_status_s>   _rover_speed_status_pub{ORB_ID(rover_speed_status)};
+	uORB::Publication<surface_vehicle_throttle_setpoint_s> _surface_vehicle_throttle_setpoint_pub{ORB_ID(surface_vehicle_throttle_setpoint)};
+	uORB::Publication<surface_vehicle_speed_status_s>   _surface_vehicle_speed_status_pub{ORB_ID(surface_vehicle_speed_status)};
 
 	// Variables
 	hrt_abstime _timestamp{0};

src/modules/uxrce_dds_client/dds_topics.yaml

@@ -196,23 +196,23 @@ subscriptions:
   - topic: /fmu/in/lateral_control_configuration
     type: px4_msgs::msg::LateralControlConfiguration
 
-  - topic: /fmu/in/rover_position_setpoint
-    type: px4_msgs::msg::RoverPositionSetpoint
+  - topic: /fmu/in/surface_vehicle_position_setpoint
+    type: px4_msgs::msg::SurfaceVehiclePositionSetpoint
 
-  - topic: /fmu/in/rover_speed_setpoint
-    type: px4_msgs::msg::RoverSpeedSetpoint
+  - topic: /fmu/in/surface_vehicle_speed_setpoint
+    type: px4_msgs::msg::SurfaceVehicleSpeedSetpoint
 
-  - topic: /fmu/in/rover_attitude_setpoint
-    type: px4_msgs::msg::RoverAttitudeSetpoint
+  - topic: /fmu/in/surface_vehicle_attitude_setpoint
+    type: px4_msgs::msg::SurfaceVehicleAttitudeSetpoint
 
-  - topic: /fmu/in/rover_rate_setpoint
-    type: px4_msgs::msg::RoverRateSetpoint
+  - topic: /fmu/in/surface_vehicle_rate_setpoint
+    type: px4_msgs::msg::SurfaceVehicleRateSetpoint
 
-  - topic: /fmu/in/rover_throttle_setpoint
-    type: px4_msgs::msg::RoverThrottleSetpoint
+  - topic: /fmu/in/surface_vehicle_throttle_setpoint
+    type: px4_msgs::msg::SurfaceVehicleThrottleSetpoint
 
-  - topic: /fmu/in/rover_steering_setpoint
-    type: px4_msgs::msg::RoverSteeringSetpoint
+  - topic: /fmu/in/surface_vehicle_steering_setpoint
+    type: px4_msgs::msg::SurfaceVehicleSteeringSetpoint
 
   - topic: /fmu/in/landing_gear
     type: px4_msgs::msg::LandingGear