Boat Module

msg/BoatSetpoint.msg

@@ -0,0 +1,8 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 speed # [m/s] collective roll-off speed in body x-axis
+bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward
+float32 yaw_rate # [rad] yaw_rate
+bool closed_loop_yaw_rate_control # true if rudder angle is controlled using encoder feedback, false if direct feed-forward
+
+# TOPICS boat_setpoint boat_control_output

msg/CMakeLists.txt

@@ -53,6 +53,7 @@ set(msg_files
 	ArmingCheckRequest.msg
 	AutotuneAttitudeControlStatus.msg
 	BatteryStatus.msg
+	BoatSetpoint.msg
 	Buffer128.msg
 	ButtonEvent.msg
 	CameraCapture.msg