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42 lines
3.4 KiB
Markdown
42 lines
3.4 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# RoverSpeedStatus (UORB message)
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Rover Velocity Status.
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**TOPICS:** rover_speed_status
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ------------------------------ | --------- | ------------ | ----------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | Time since system start |
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| measured_speed_body_x | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Measured speed in body x direction |
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| adjusted_speed_body_x_setpoint | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Speed setpoint in body x direction that is being tracked (Applied slew rates) |
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| pid_throttle_body_x_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop controller of the speed in body x direction |
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| measured_speed_body_y | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Measured speed in body y direction (Invalid: NaN If not mecanum) |
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| adjusted_speed_body_y_setpoint | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) (Invalid: NaN If not mecanum) |
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| pid_throttle_body_y_integral | `float32` | | [-1 : 1] | Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction (Invalid: NaN If not mecanum) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedStatus.msg)
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::: details Click here to see original file
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```c
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# Rover Velocity Status
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uint64 timestamp # [us] Time since system start
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float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
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float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
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float32 pid_throttle_body_x_integral # [-] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
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float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
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float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
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float32 pid_throttle_body_y_integral # [-] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
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```
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:::
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