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11 lines
591 B
Plaintext
11 lines
591 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 speed # [m/s] collective roll-off speed in body x-axis
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bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward
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float32 yaw_rate # [rad] yaw_rate
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bool closed_loop_yaw_rate_control # true if rudder angle is controlled using feedback, false if direct feed-forward
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float32 heading_setpoint # [rad] desired heading
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bool closed_loop_heading_control # true if heading is controlled using feedback, false if direct feed-forward
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# TOPICS boat_setpoint boat_control_output
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