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20 lines
1.2 KiB
Markdown
20 lines
1.2 KiB
Markdown
# RoverVelocityStatus (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocityStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 measured_speed_body_x # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
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float32 speed_body_x_setpoint # [m/s] Speed setpoint in body x direction. Positiv: forwards, Negativ: backwards
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float32 adjusted_speed_body_x_setpoint # [m/s] Post slew rate speed setpoint in body x direction. Positiv: forwards, Negativ: backwards
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float32 measured_speed_body_y # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
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float32 speed_body_y_setpoint # [m/s] Speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
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float32 adjusted_speed_body_y_setpoint # [m/s] Post slew rate speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
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float32 pid_throttle_body_x_integral # Integral of the PID for the closed loop controller of the speed in body x direction
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float32 pid_throttle_body_y_integral # Integral of the PID for the closed loop controller of the speed in body y direction
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# TOPICS rover_velocity_status
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```
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