WheelSpeedInput Struct
Differential wheel speed measurement input (MessageType::WHEEL_SPEED_INPUT, version 1). More...
Declaration
Included Headers
Base struct
| struct | MessagePayload |
|
The base class for all message payloads. More... | |
Public Member Attributes Index
| MeasurementDetails | details |
|
Measurement timestamp and additional information, if available. More... | |
| uint8_t | flags = 0x0 |
|
A bitmask of flags associated with the measurement data. More... | |
| int32_t | front_left_speed = INT32_MAX |
|
The front left wheel speed (in m/s * 2^-10). More... | |
| int32_t | front_right_speed = INT32_MAX |
|
The front right wheel speed (in m/s * 2^-10). More... | |
| GearType | gear = GearType::UNKNOWN |
|
The transmission gear currently in use, or direction of motion, if available. More... | |
| int32_t | rear_left_speed = INT32_MAX |
|
The rear left wheel speed (in m/s * 2^-10). More... | |
| int32_t | rear_right_speed = INT32_MAX |
|
The rear right wheel speed (in m/s * 2^-10). More... | |
Public Static Attributes Index
| static constexpr uint8_t | FLAG_SIGNED = 0x1 |
|
Set this flag if the measured wheel speeds are signed (positive forward, negative reverse). More... | |
| static constexpr MessageType | MESSAGE_TYPE = MessageType::WHEEL_SPEED_INPUT |
| static constexpr uint8_t | MESSAGE_VERSION = 0 |
Description
Differential wheel speed measurement input (MessageType::WHEEL_SPEED_INPUT, version 1).
This message is an input to the device, used to convey the speed of each individual wheel on the vehicle. The number and type of wheels expected varies by vehicle. For single along-track speed measurements, see VehicleSpeedInput.
To use wheel speed data, you must first configure the device by issuing a SetConfigMessage message containing a WheelConfig payload describing the vehicle sensor configuration (speed data signed/unsigned, etc.).
Some platforms may have an additional signal used to indicate direction of motion, have direction or gear information available from a vehicle CAN bus, etc. If direction/gear information is available, it may be provided in the gear field.
To send wheel tick counts from software, use WheelTickInput instead.
See also WheelSpeedOutput for measurement output.
Definition at line 434 of file measurements.h.
Public Member Attributes
details
|
Measurement timestamp and additional information, if available.
See MeasurementDetails for details.
Definition at line 449 of file measurements.h.
flags
|
A bitmask of flags associated with the measurement data.
Definition at line 485 of file measurements.h.
front_left_speed
|
The front left wheel speed (in m/s * 2^-10).
Set to 0x7FFFFFFF if not available.
Definition at line 455 of file measurements.h.
front_right_speed
|
The front right wheel speed (in m/s * 2^-10).
Set to 0x7FFFFFFF if not available.
Definition at line 461 of file measurements.h.
gear
|
The transmission gear currently in use, or direction of motion, if available.
Set to GearType::FORWARD or GearType::REVERSE where vehicle direction information is available externally.
Definition at line 482 of file measurements.h.
rear_left_speed
|
The rear left wheel speed (in m/s * 2^-10).
Set to 0x7FFFFFFF if not available.
Definition at line 467 of file measurements.h.
rear_right_speed
Public Static Attributes
FLAG_SIGNED
| constexpr static |
Set this flag if the measured wheel speeds are signed (positive forward, negative reverse).
Otherwise, if the values are assumed to be unsigned (positive in both directions).
Definition at line 443 of file measurements.h.
MESSAGE_TYPE
| constexpr static |
Definition at line 435 of file measurements.h.
MESSAGE_VERSION
| constexpr static |
Definition at line 436 of file measurements.h.
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