SurfaceVehicleThrustSetpoint (UORB message)

Surface Vehicle Thrust Setpoint.

Normalized thrust setpoint for surface vehicles, on land or on water (rovers, boats). Published by the speed controllers of rover_ackermann, rover_differential and rover_mecanum, which turn surface_vehicle_speed_setpoint into it, and by their manual, acro, stabilized and manual parking modes directly from the sticks. Can be sent from ROS 2 over uXRCE-DDS (/fmu/in/surface_vehicle_thrust_setpoint). The actuator controllers of these modules turn it into motor commands (actuator_motors).

TOPICS: surface_vehicle_thrust_setpoint

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
x	float32	[Body]	[-1 (Backwards) : 1 (Forwards)]	Normalized thrust setpoint along the body X axis
y	float32	[Body]	[-1 (Left) : 1 (Right)]	Omnidirectional vehicles only: Normalized thrust setpoint along the body Y axis (Invalid: NaN If not omnidirectional)

Source Message

Source file (GitHub)

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# Surface Vehicle Thrust Setpoint
#
# Normalized thrust setpoint for surface vehicles, on land or on water (rovers, boats).
# Published by the speed controllers of rover_ackermann, rover_differential and rover_mecanum,
# which turn surface_vehicle_speed_setpoint into it, and by their manual, acro, stabilized and
# manual parking modes directly from the sticks. Can be sent from ROS 2 over uXRCE-DDS
# (/fmu/in/surface_vehicle_thrust_setpoint).
# The actuator controllers of these modules turn it into motor commands (actuator_motors).

uint64 timestamp # [us] Time since system start
float32 x # [-] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Normalized thrust setpoint along the body X axis
float32 y # [-] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional vehicles only: Normalized thrust setpoint along the body Y axis