Detailed Description
Software vehicle/wheel speed measurement configuration settings.
- Warning
- The WheelConfig payload is intended for use on vehicles where wheel speed or angle (tick) data is received via software, either using FusionEngine measurement messages, or from another software data source such as a vehicle CAN bus. For vehicles using a hardware wheel tick voltage signal, use HardwareTickConfig instead.
Wheel data may be differential (measurements from each individual wheel), or scalar (a single speed measurement for the vehicle body).
When using software wheel data, you must also specify VehicleDetails, which is used to describe the vehicle dimensions and make/model.
See also:
Definition at line 1009 of file configuration.h.
#include <point_one/fusion_engine/messages/configuration.h>
Public Attributes | |
| AppliedSpeedType | applied_speed_type = AppliedSpeedType::REAR_WHEELS |
| The type of vehicle/wheel speed measurements to be applied to the navigation solution. More... | |
| float | steering_ratio = NAN |
| Ratio between angle of the steering wheel and the angle of the wheels on the ground. More... | |
| SteeringType | steering_type = SteeringType::UNKNOWN |
| Indication of which of the vehicle's wheels are steered. More... | |
| WheelSensorType | wheel_sensor_type = WheelSensorType::NONE |
| The type of vehicle/wheel speed measurements produced by the vehicle. More... | |
| uint32_t | wheel_tick_max_value = 0 |
| The maximum value (inclusive) before the wheel tick measurement will roll over. More... | |
| float | wheel_tick_output_interval_sec = NAN |
| Override the rate at which wheel tick measurements will be used by the navigation engine (in seconds). More... | |
| bool | wheel_ticks_always_increase = true |
true if the wheel tick measurements increase by a positive amount when driving forward or backward. More... | |
| bool | wheel_ticks_signed = false |
true if the reported wheel tick measurements should be interpreted as signed integers, or false if they should be interpreted as unsigned integers. More... | |
| float | wheel_ticks_to_m = NAN |
| The scale factor to convert from wheel encoder ticks to distance (in meters/tick). More... | |
| float | wheel_update_interval_sec = NAN |
| The rate at which wheel speed/tick measurements will be sent to the device (in seconds). More... | |
Member Data Documentation
◆ applied_speed_type
| AppliedSpeedType point_one::fusion_engine::messages::WheelConfig::applied_speed_type = AppliedSpeedType::REAR_WHEELS |
The type of vehicle/wheel speed measurements to be applied to the navigation solution.
Definition at line 1019 of file configuration.h.
◆ steering_ratio
| float point_one::fusion_engine::messages::WheelConfig::steering_ratio = NAN |
Ratio between angle of the steering wheel and the angle of the wheels on the ground.
Used when applying measurements from steered wheels only, ignored otherwise.
Definition at line 1060 of file configuration.h.
◆ steering_type
| SteeringType point_one::fusion_engine::messages::WheelConfig::steering_type = SteeringType::UNKNOWN |
Indication of which of the vehicle's wheels are steered.
Definition at line 1022 of file configuration.h.
◆ wheel_sensor_type
| WheelSensorType point_one::fusion_engine::messages::WheelConfig::wheel_sensor_type = WheelSensorType::NONE |
The type of vehicle/wheel speed measurements produced by the vehicle.
Definition at line 1013 of file configuration.h.
◆ wheel_tick_max_value
| uint32_t point_one::fusion_engine::messages::WheelConfig::wheel_tick_max_value = 0 |
The maximum value (inclusive) before the wheel tick measurement will roll over.
The rollover behavior depends on the value of wheel_ticks_signed. For example, a maximum value of 10 will work as follows:
wheel_ticks_signed == true: [-11, 10]wheel_ticks_signed == false: [0, 10]
Signed values are assumed to be asymmetric, consistent with a typical 2's complement rollover.
Used for WheelSensorType::TICKS and WheelSensorType::VEHICLE_TICKS, ignored for wheel speed input.
Definition at line 1086 of file configuration.h.
◆ wheel_tick_output_interval_sec
| float point_one::fusion_engine::messages::WheelConfig::wheel_tick_output_interval_sec = NAN |
Override the rate at which wheel tick measurements will be used by the navigation engine (in seconds).
If this parameter is NAN (default), the best rate will be selected automatically by the device based on the input rate (wheel_update_interval_sec) and the wheel tick quantization (wheel_ticks_to_m).
- Warning
- For most system configurations, we recommend setting this value to
NANto let the device choose the appropriate setting. Use this setting with caution.
Definition at line 1051 of file configuration.h.
◆ wheel_ticks_always_increase
| bool point_one::fusion_engine::messages::WheelConfig::wheel_ticks_always_increase = true |
true if the wheel tick measurements increase by a positive amount when driving forward or backward.
false if wheel tick measurements decrease when driving backward.
Used for WheelSensorType::TICKS and WheelSensorType::VEHICLE_TICKS, ignored for wheel speed input.
Definition at line 1107 of file configuration.h.
◆ wheel_ticks_signed
| bool point_one::fusion_engine::messages::WheelConfig::wheel_ticks_signed = false |
true if the reported wheel tick measurements should be interpreted as signed integers, or false if they should be interpreted as unsigned integers.
Used for WheelSensorType::TICKS and WheelSensorType::VEHICLE_TICKS, ignored for wheel speed input. See wheel_tick_max_value for details.
Definition at line 1097 of file configuration.h.
◆ wheel_ticks_to_m
| float point_one::fusion_engine::messages::WheelConfig::wheel_ticks_to_m = NAN |
The scale factor to convert from wheel encoder ticks to distance (in meters/tick).
Used for WheelSensorType::TICKS and WheelSensorType::VEHICLE_TICKS, ignored for wheel speed input.
Definition at line 1069 of file configuration.h.
◆ wheel_update_interval_sec
| float point_one::fusion_engine::messages::WheelConfig::wheel_update_interval_sec = NAN |
The rate at which wheel speed/tick measurements will be sent to the device (in seconds).
- Note
- This parameter is required when using software wheel measurements. It may not be
NANif wheel measurements are enabled, and cannot be determined automatically by the device.
Definition at line 1035 of file configuration.h.
The documentation for this struct was generated from the following file:
- src/point_one/fusion_engine/messages/configuration.h
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