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14 lines
872 B
Plaintext
14 lines
872 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 actual_speed # [m/s] Actual forward speed of the rover
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float32 actual_yaw # [rad] Actual yaw of the rover
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float32 actual_yaw_rate # [rad/s] Actual yaw rate of the rover
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float32 desired_yaw_rate # [rad/s] Yaw rate setpoint for the closed loop yaw rate controller
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float32 forward_speed_normalized # [-1, 1] Normalized forward speed setpoint
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float32 speed_diff_normalized # [-1, 1] Normalized speed difference setpoint between the left and right motor
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float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
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float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
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float32 pid_throttle_integral # Integral of the PID for the closed loop speed controller
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# TOPICS rover_differential_status
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