feat: add steer actuation angle, add vehicle position and velocity (e…

…stimation from KF)
eagletrt · May 21, 2024 · 797a055 · 797a055
1 parent a297aa1
commit 797a055
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Showing 2 changed files with 66 additions and 13 deletions.
diff --git a/networks/primary/network.json b/networks/primary/network.json
@@ -2454,14 +2454,28 @@
                 "ECU"
             ],
             "contents": {
-                "status": "Toggle",
-                "target": {
+                "status": "Toggle"
+            }
+        },
+        {
+            "name": "ECU_SET_STEER_ACTUATOR_ANGLE",
+            "topic": "HYDRA",
+            "priority": 3,
+            "interval": 50,
+            "sending": [
+                "TLM"
+            ],
+            "receiving": [
+                "ECU"
+            ],
+            "contents": {
+                "angle": {
                     "type": "float32",
                     "range": [
-                        -0.1,
-                        1
+                        -180,
+                        180
                     ],
-                    "precision": 0.1
+                    "force": "uint16"
                 }
             }
         },
@@ -2607,4 +2621,4 @@
             }
         }
     ]
-}
+}
diff --git a/networks/secondary/network.json b/networks/secondary/network.json
@@ -1573,30 +1573,69 @@
       }
     },
     {
-      "name": "GPS_COORDS",
+      "name": "VEHICLE_POSITION",
       "topic": "HYDRA",
       "priority": 3,
       "sending": [
         "TLM"
       ],
       "receiving": [],
-      "description": "Coordinates received from GPS",
+      "description": "Vehicle position in meters and heading in radians",
+      "interval": 10,
       "contents": {
-        "latitude": "float32",
-        "longitude": "float32"
+        "x": {
+          "type": "float32",
+          "range": [
+            -1000,
+            1000
+          ],
+          "force": "uint16"
+        },
+        "y": {
+          "type": "float32",
+          "range": [
+            -1000,
+            1000
+          ],
+          "force": "uint16"
+        },
+        "heading": {
+          "type": "float32",
+          "range": [
+            -3.14159,
+            3.14159
+          ],
+          "force": "uint16"
+        }
       }
     },
     {
-      "name": "GPS_SPEED",
+      "name": "VEHICLE_SPEED",
       "topic": "HYDRA",
       "priority": 3,
       "sending": [
         "TLM"
       ],
       "receiving": [],
-      "description": "Speed received from GPS",
+      "description": "Vehicle speed in m/s",
+      "interval": 10,
       "contents": {
-        "speed": "uint16"
+        "u": {
+          "type": "float32",
+          "range": [
+            0,
+            40
+          ],
+          "force": "uint16"
+        },
+        "v": {
+          "type": "float32",
+          "range": [
+            -20,
+            20
+          ],
+          "force": "uint16"
+        }
       }
     },
     {