point_one::fusion_engine::messages::VehicleSpeedOutput Struct Reference

Detailed Description

Vehicle body speed measurement output with calibration and corrections applied (MessageType::VEHICLE_SPEED_OUTPUT, version 1.0).

This message is an output from the device that contains the along-track speed of the vehicle (forward/backward), after applying any estimated corrections for scale factor, etc.

Odometry data may be received via a software input from a host machine, a vehicle CAN bus, or a hardware voltage signal (wheel ticks). The data_source field will indicate which type of data source provided the measurements to the device.

Note

When odometry is provided using hardware wheel ticks, the output rate of this message may differ from the wheel tick input rate. For high accuracy applications, FusionEngine may integrate tick counts over longer intervals to improve performance.

See also VehicleSpeedInput and RawVehicleSpeedOutput.

Definition at line 714 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::VehicleSpeedOutput:

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

Public Attributes
SensorDataSource	data_source = SensorDataSource::UNKNOWN
	The source of the incoming data, if known. 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...
Timestamp	p1_time
	The time of the measurement, in P1 time (beginning at power-on). More...
float	vehicle_speed_mps = NAN
	The current vehicle speed estimate (in m/s). 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_OUTPUT
static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

data_source

SensorDataSource point_one::fusion_engine::messages::VehicleSpeedOutput::data_source = SensorDataSource::UNKNOWN

The source of the incoming data, if known.

Definition at line 731 of file measurements.h.

FLAG_SIGNED

constexpr uint8_t point_one::fusion_engine::messages::VehicleSpeedOutput::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 723 of file measurements.h.

flags

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

A bitmask of flags associated with the measurement data.

Definition at line 743 of file measurements.h.

gear

GearType point_one::fusion_engine::messages::VehicleSpeedOutput::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 740 of file measurements.h.

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::VehicleSpeedOutput::MESSAGE_TYPE = MessageType::VEHICLE_SPEED_OUTPUT

staticconstexpr

Definition at line 715 of file measurements.h.

MESSAGE_VERSION

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

staticconstexpr

Definition at line 716 of file measurements.h.

p1_time

Timestamp point_one::fusion_engine::messages::VehicleSpeedOutput::p1_time

The time of the measurement, in P1 time (beginning at power-on).

Definition at line 726 of file measurements.h.

vehicle_speed_mps

float point_one::fusion_engine::messages::VehicleSpeedOutput::vehicle_speed_mps = NAN

The current vehicle speed estimate (in m/s).

Definition at line 748 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