Add steering angle #530
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Add steering angle #530
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This adds steering angle for road wheels. Signed-off-by: Erik Jaegervall <erik.jaegervall@se.bosch.com>
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Meeting notes: Please review until next week. |
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Meeting decision: merge |
SebastianSchildt
approved these changes
Feb 7, 2023
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This adds steering angle for road wheels.
We already have angle for the steering wheel (Vehicle.Chassis.SteeringWheel.Angle) but until now we do not have any signal that represents actual angle for the road wheels. This PR adds a steering angle for each axle, to support vehicles that also has steering on rear axle, resulting in two new signals with default installation
Left and right wheel typically have different angles, the signal represents the angle that would be used if the axle instead had only one centrally mounted wheel. Here called "Single track two-axle model steering angle", other similar terms are "bicycle model steering angle". Similar signals exist in for example Android VHAL as PERF_STEERING_ANGLE and PERF_REAR_STEERING_ANGLE
Signed-off-by: Erik Jaegervall erik.jaegervall@se.bosch.com