RoverSpeedStatus (UORB message)

Rover Velocity Status.

TOPICS: rover_speedstatus

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
measured_speed_body_x	float32	m/s [Body]	[-inf (Backwards) : inf (Forwards)]	Measured speed in body x direction
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)
pid_throttle_body_x_integral	float32		[-1 : 1]	Integral of the PID for the closed loop controller of the speed in body x direction
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)
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)
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)

Source Message

Source file (GitHub)

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# Rover Velocity Status

uint64 timestamp                        # [us] Time since system start
float32 measured_speed_body_x           # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
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)
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
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
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)
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