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Add rover message to common.xml #1032

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merged 7 commits into from
Jan 9, 2019
Merged

Add rover message to common.xml #1032

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566a7cd
Add rover message to common.xml
LorenzMeier Dec 6, 2018
287ba05
Update common.xml
LorenzMeier Dec 6, 2018
be79eeb
WIP, will be squashed.
LorenzMeier Dec 6, 2018
71fb7d1
WHEEL_DISTANCE:Clarify encoder/wheel mapping
hamishwillee Jan 2, 2019
4150c92
Make distance into array of double not float
hamishwillee Jan 2, 2019
7d23657
Merge branch 'master' into rover-wheel-distance
hamishwillee Jan 3, 2019
f7ffd8e
Run formatter
hamishwillee Jan 3, 2019
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7 changes: 7 additions & 0 deletions message_definitions/v1.0/common.xml
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Expand Up @@ -4981,5 +4981,12 @@
<field type="int32_t" name="y">Y coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.</field>
<field type="float" name="z" units="m">Altitude of center point. Coordinate system depends on frame field.</field>
</message>
<!-- Rover specific messages -->
<message id="9000" name="WHEEL_DISTANCE">
<description>Cumulative distance traveled for each reported wheel.</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (synced to UNIX time or since system boot).</field>
<field type="uint8_t" name="count">Number of wheels reported.</field>
<field type="double[16]" name="distance" units="m">Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.</field>
</message>
</messages>
</mavlink>