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msgs: Clean up message definitions and descriptions

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- Add versioning to interfacing messages
- Add header description
- Add units, frame and range wherever possible
- Add [norm] and @range indentifiers
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mahima-yoga
2025-04-16 09:54:21 +02:00
committed by Silvan Fuhrer
parent 8c1f7ec7c0
commit 8a5e5a411a
13 changed files with 73 additions and 47 deletions
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msg/versioned/FixedWingLateralSetpoint.msg
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# Fixed Wing Lateral Setpoint message
# Used by the fw_lateral_longitudinal_control module
# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.