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Add DVL specific messages #317
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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Codecov Report
@@ Coverage Diff @@
## gz-msgs9 #317 +/- ##
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Coverage 95.41% 95.41%
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Files 10 10
Lines 1026 1026
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Hits 979 979
Misses 47 47 Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here. |
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LGTM
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Looks good to me, just a few minor clarifications and suggestions.
{ | ||
enum ReferenceType | ||
{ | ||
DVL_REFERENCE_UNSPECIFIED = 0; |
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Could you document each element of the enum?
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Done in d27b90f.
proto/gz/msgs/dvl_beam_state.proto
Outdated
/// \brief Measured background noise spectral density. | ||
double nsd = 5; | ||
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/// \brief Whether beam is locked or not. |
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Maybe this is obvious if you're familiar with DVLs but I don't have a good intuition about what does it mean "locked" in this context. It's OK to also include a link to some reference.
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Done in d27b90f.
DVLRangeEstimate range = 3; | ||
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/// \brief Target position estimate. | ||
DVLKinematicEstimate position = 2; |
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Any reason for placing the position = 2
after range = 3
?
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No reason. Fixed in d27b90f.
/// \brief Type of target used for tracking. | ||
TargetType type = 1; | ||
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/// \brief Target range (or distance). |
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I'd recommend to mention the units here and in the position fields
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Are there units other than SI units? :) Done in d27b90f.
DVLTrackingTarget target = 3; | ||
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/// \brief Estimated velocity. | ||
DVLKinematicEstimate velocity = 4; |
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What is the difference between this velocity
field and the velocity
of each beam?
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Added clarification in d27b90f.
double rssi = 4; | ||
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/// \brief Measured background noise spectral density. | ||
double nsd = 5; |
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Not familiar with this term, does it have units?
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Added units in d27b90f. Noise power spectral density characterize how much noise power is there per unit bandwidth.
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Alright, going in! |
@nkoenig would it be possible to roll out a |
I can help with the release. |
🎉 New feature
Summary
This patch brings a number of DVL specific messages, necessary for DVL sensor interfaces.
Test it
TBD
Checklist
codecheck
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