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 feedback, false if direct feed-forward
float32 heading_setpoint # [rad] desired heading
bool closed_loop_heading_control # true if heading is controlled using feedback, false if direct feed-forward

# TOPICS boat_setpoint boat_control_output