rover: streamline rover steering setpoint

msg/RoverSteeringSetpoint.msg

@@ -1,5 +1,3 @@
 uint64 timestamp # time since system start (microseconds)
 
-float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Ackermann only, Positiv: Steer right, Negativ: Steer left)
+float32 normalized_steering_setpoint # [-1, 1] Positiv = Turn right, Negativ: Turn left (Ackermann: Steering angle, Differential/Mecanum: Speed difference between the left and right wheels)
-
-float32 normalized_speed_diff     # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Differential/Mecanum only, Positiv = Turn right, Negativ: Turn left)

src/modules/rover_ackermann/AckermannActControl/AckermannActControl.cpp

@@ -83,7 +83,7 @@ void AckermannActControl::updateActControl()
 	if (_rover_steering_setpoint_sub.updated()) {
 		rover_steering_setpoint_s rover_steering_setpoint{};
 		_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
-		_steering_setpoint = rover_steering_setpoint.normalized_steering_angle;
+		_steering_setpoint = rover_steering_setpoint.normalized_steering_setpoint;
 	}
 
 	if (PX4_ISFINITE(_steering_setpoint)) {

src/modules/rover_ackermann/AckermannRateControl/AckermannRateControl.cpp

@@ -96,7 +96,7 @@ void AckermannRateControl::updateRateControl()
 
 			rover_steering_setpoint_s rover_steering_setpoint{};
 			rover_steering_setpoint.timestamp = _timestamp;
-			rover_steering_setpoint.normalized_steering_angle = math::interpolate<float>(steering_setpoint,
+			rover_steering_setpoint.normalized_steering_setpoint = math::interpolate<float>(steering_setpoint,
 					-_param_ra_max_str_ang.get(), _param_ra_max_str_ang.get(), -1.f, 1.f); // Normalize steering setpoint
 			_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
 
@@ -104,7 +104,7 @@ void AckermannRateControl::updateRateControl()
 			_pid_yaw_rate.resetIntegral();
 			rover_steering_setpoint_s rover_steering_setpoint{};
 			rover_steering_setpoint.timestamp = _timestamp;
-			rover_steering_setpoint.normalized_steering_angle = 0.f;
+			rover_steering_setpoint.normalized_steering_setpoint = 0.f;
 			_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
 		}
 	}

src/modules/rover_ackermann/DriveModes/ManualMode/ManualMode.cpp

@@ -58,7 +58,7 @@ void ManualMode::manual()
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
 	rover_steering_setpoint_s rover_steering_setpoint{};
 	rover_steering_setpoint.timestamp = hrt_absolute_time();
-	rover_steering_setpoint.normalized_steering_angle = manual_control_setpoint.roll;
+	rover_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.roll;
 	_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
 	rover_throttle_setpoint_s rover_throttle_setpoint{};
 	rover_throttle_setpoint.timestamp = hrt_absolute_time();

src/modules/rover_differential/DifferentialActControl/DifferentialActControl.cpp

@@ -65,7 +65,7 @@ void DifferentialActControl::updateActControl()
 	if (_rover_steering_setpoint_sub.updated()) {
 		rover_steering_setpoint_s rover_steering_setpoint{};
 		_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
-		_speed_diff_setpoint = rover_steering_setpoint.normalized_speed_diff;
+		_speed_diff_setpoint = rover_steering_setpoint.normalized_steering_setpoint;
 	}
 
 	if (PX4_ISFINITE(_throttle_setpoint) && PX4_ISFINITE(_speed_diff_setpoint)) {

src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.cpp

@@ -58,7 +58,7 @@ void DifferentialManualMode::manual()
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
 	rover_steering_setpoint_s rover_steering_setpoint{};
 	rover_steering_setpoint.timestamp = hrt_absolute_time();
-	rover_steering_setpoint.normalized_speed_diff = manual_control_setpoint.roll;
+	rover_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.roll;
 	_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
 	rover_throttle_setpoint_s rover_throttle_setpoint{};
 	rover_throttle_setpoint.timestamp = hrt_absolute_time();

src/modules/rover_differential/DifferentialRateControl/DifferentialRateControl.cpp

@@ -82,7 +82,7 @@ void DifferentialRateControl::updateRateControl()
 						    _param_ro_yaw_decel_limit.get() * M_DEG_TO_RAD_F, _param_rd_wheel_track.get(), dt);
 		rover_steering_setpoint_s rover_steering_setpoint{};
 		rover_steering_setpoint.timestamp = _timestamp;
-		rover_steering_setpoint.normalized_speed_diff = speed_diff_normalized;
+		rover_steering_setpoint.normalized_steering_setpoint = speed_diff_normalized;
 		_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
 
 	} else {

src/modules/rover_differential/DifferentialVelControl/DifferentialVelControl.cpp

@@ -149,7 +149,7 @@ float DifferentialVelControl::calcSpeedSetpoint()
 		if (_rover_steering_setpoint_sub.updated()) {
 			rover_steering_setpoint_s rover_steering_setpoint{};
 			_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
-			_normalized_speed_diff = rover_steering_setpoint.normalized_speed_diff;
+			_normalized_speed_diff = rover_steering_setpoint.normalized_steering_setpoint;
 		}
 
 		if (fabsf(speed_setpoint_normalized) > 1.f - fabsf(

src/modules/rover_mecanum/MecanumActControl/MecanumActControl.cpp

@@ -67,7 +67,7 @@ void MecanumActControl::updateActControl()
 	if (_rover_steering_setpoint_sub.updated()) {
 		rover_steering_setpoint_s rover_steering_setpoint{};
 		_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
-		_speed_diff_setpoint = rover_steering_setpoint.normalized_speed_diff;
+		_speed_diff_setpoint = rover_steering_setpoint.normalized_steering_setpoint;
 	}
 
 	if (PX4_ISFINITE(_throttle_x_setpoint) && PX4_ISFINITE(_throttle_y_setpoint) && PX4_ISFINITE(_speed_diff_setpoint)) {

src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.cpp

@@ -58,7 +58,7 @@ void MecanumManualMode::manual()
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
 	rover_steering_setpoint_s rover_steering_setpoint{};
 	rover_steering_setpoint.timestamp = hrt_absolute_time();
-	rover_steering_setpoint.normalized_speed_diff = manual_control_setpoint.yaw;
+	rover_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.yaw;
 	_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
 	rover_throttle_setpoint_s rover_throttle_setpoint{};
 	rover_throttle_setpoint.timestamp = hrt_absolute_time();

src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.cpp

@@ -82,7 +82,7 @@ void MecanumRateControl::updateRateControl()
 						    _param_ro_yaw_decel_limit.get() * M_DEG_TO_RAD_F, _param_rm_wheel_track.get(), dt);
 		rover_steering_setpoint_s rover_steering_setpoint{};
 		rover_steering_setpoint.timestamp = _timestamp;
-		rover_steering_setpoint.normalized_speed_diff = speed_diff_normalized;
+		rover_steering_setpoint.normalized_steering_setpoint = speed_diff_normalized;
 		_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
 
 	} else {

src/modules/rover_mecanum/MecanumVelControl/MecanumVelControl.cpp

@@ -154,7 +154,7 @@ Vector2f MecanumVelControl::calcSpeedSetpoint()
 	if (_rover_steering_setpoint_sub.updated()) {
 		rover_steering_setpoint_s rover_steering_setpoint{};
 		_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
-		_normalized_speed_diff = rover_steering_setpoint.normalized_speed_diff;
+		_normalized_speed_diff = rover_steering_setpoint.normalized_steering_setpoint;
 	}
 
 	float speed_x_setpoint_normalized = math::interpolate<float>(_speed_x_setpoint,