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rover: clean up speed terminology

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chfriedrich98
2025-04-29 15:11:41 +02:00
committed by chfriedrich98
parent 1d5e58b948
commit b727ce86a0
9 changed files with 92 additions and 91 deletions
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msg/RoverThrottleSetpoint.msg
-1
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@@ -2,5 +2,4 @@
uint64 timestamp # time since system start (microseconds)
float32 throttle_body_x # throttle setpoint along body X axis [-1, 1] (Positiv = forwards, Negativ = backwards)
float32 throttle_body_y # throttle setpoint along body Y axis [-1, 1] (Mecanum only, Positiv = right, Negativ = left)
msg/RoverVelocityStatus.msg
+3 -5
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@@ -1,10 +1,8 @@
uint64 timestamp # time since system start (microseconds)
float32 measured_speed_body_x # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
float32 speed_body_x_setpoint # [m/s] Speed setpoint in body x direction. Positiv: forwards, Negativ: backwards
float32 adjusted_speed_body_x_setpoint # [m/s] Post slew rate speed setpoint in body x direction. Positiv: forwards, Negativ: backwards
float32 measured_speed_body_y # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
float32 speed_body_y_setpoint # [m/s] Speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
float32 adjusted_speed_body_y_setpoint # [m/s] Post slew rate speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
float32 pid_throttle_body_x_integral # Integral of the PID for the closed loop controller of the speed in body x direction
float32 pid_throttle_body_y_integral # Integral of the PID for the closed loop controller of the speed in body y direction
float32 measured_speed_body_y # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left (Mecanum only)
float32 adjusted_speed_body_y_setpoint # [m/s] Post slew rate speed setpoint in body y direction. Positiv: right, Negativ: left (Mecanum only)
float32 pid_throttle_body_y_integral # Integral of the PID for the closed loop controller of the speed in body y direction (Mecanum only)