point_one::fusion_engine::messages::VehicleSpeedInput Struct Reference

Detailed Description

Vehicle body speed measurement input (MessageType::VEHICLE_SPEED_INPUT, version 1.0).

This message is an input to the device, used to convey the along-track speed of the vehicle (forward/backward). For differential speed measurements for multiple wheels, see WheelSpeedInput.

To use vehicle 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 VehicleTickInput instead.

See also VehicleSpeedOutput for measurement output.

Definition at line 654 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::VehicleSpeedInput:

#include <point_one/fusion_engine/messages/measurements.h>

Public Attributes
MeasurementDetails	details
	Measurement timestamp and additional information, if available. More...
uint8_t	flags = 0x0
	A bitmask of flags associated with the measurement data. More...
GearType	gear = GearType::UNKNOWN
	The transmission gear currently in use, or direction of motion, if available. More...
int32_t	vehicle_speed = INT32_MAX
	The current vehicle speed estimate (in m/s * 2^-10). More...

Static Public Attributes
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::VEHICLE_SPEED_INPUT
static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

details

MeasurementDetails point_one::fusion_engine::messages::VehicleSpeedInput::details

Measurement timestamp and additional information, if available.

See MeasurementDetails for details.

Definition at line 669 of file measurements.h.

FLAG_SIGNED

constexpr uint8_t point_one::fusion_engine::messages::VehicleSpeedInput::FLAG_SIGNED = 0x1

staticconstexpr

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 663 of file measurements.h.

flags

uint8_t point_one::fusion_engine::messages::VehicleSpeedInput::flags = 0x0

A bitmask of flags associated with the measurement data.

Definition at line 687 of file measurements.h.

gear

GearType point_one::fusion_engine::messages::VehicleSpeedInput::gear = GearType::UNKNOWN

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 684 of file measurements.h.

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::VehicleSpeedInput::MESSAGE_TYPE = MessageType::VEHICLE_SPEED_INPUT

staticconstexpr

Definition at line 655 of file measurements.h.

MESSAGE_VERSION

constexpr uint8_t point_one::fusion_engine::messages::VehicleSpeedInput::MESSAGE_VERSION = 0

staticconstexpr

Definition at line 656 of file measurements.h.

vehicle_speed

int32_t point_one::fusion_engine::messages::VehicleSpeedInput::vehicle_speed = INT32_MAX

The current vehicle speed estimate (in m/s * 2^-10).

Set to 0x7FFFFFFF if not available.

Definition at line 675 of file measurements.h.

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The documentation for this struct was generated from the following file:

• src/point_one/fusion_engine/messages/measurements.h