From 2cf33547a440f0c57c6c82b981b29c061e6a891e Mon Sep 17 00:00:00 2001 From: Adam Shapiro Date: Thu, 19 Oct 2023 16:11:17 -0400 Subject: [PATCH] Clarified wheel tick output interval parameter description. --- .../messages/configuration.py | 6 +++++- .../fusion_engine/messages/configuration.h | 15 +++++++++++---- 2 files changed, 16 insertions(+), 5 deletions(-) diff --git a/python/fusion_engine_client/messages/configuration.py b/python/fusion_engine_client/messages/configuration.py index f870f40f..5cda3306 100644 --- a/python/fusion_engine_client/messages/configuration.py +++ b/python/fusion_engine_client/messages/configuration.py @@ -531,7 +531,11 @@ class WheelConfig(NamedTuple): steering_type: SteeringType = SteeringType.UNKNOWN ## The nominal rate at which wheel speed measurements will be provided (in seconds). wheel_update_interval_sec: float = math.nan - ## The nominal rate at which wheel tick measurements will be provided (in seconds). + ## + # Override the rate at which wheel tick measurements will be used by the navigation engine (in seconds). + # + # @warning + # We do _not_ recommend setting this value for most system configurations. wheel_tick_output_interval_sec: float = math.nan ## Ratio between angle of the steering wheel and the angle of the wheels on the ground. steering_ratio: float = math.nan diff --git a/src/point_one/fusion_engine/messages/configuration.h b/src/point_one/fusion_engine/messages/configuration.h index 7c075442..491e2a64 100644 --- a/src/point_one/fusion_engine/messages/configuration.h +++ b/src/point_one/fusion_engine/messages/configuration.h @@ -1061,14 +1061,21 @@ struct P1_ALIGNAS(4) WheelConfig { uint8_t reserved1[1] = {0}; /** - * The nominal rate at which wheel speed measurements will be provided (in - * seconds). + * The rate at which wheel speed/tick measurements will be sent to the device + * (in seconds). */ float wheel_update_interval_sec = NAN; /** - * The nominal rate at which wheel tick measurements will be provided (in - * seconds). + * Override the rate at which wheel tick measurements will be used by the + * navigation engine (in seconds). + * + * If this parameter is `NAN`, the best rate will be selected automatically by + * the device based on the input rate (@ref wheel_update_interval_sec) and the + * wheel tick quantization (@ref wheel_ticks_to_m). + * + * @warning + * We do _not_ recommend setting this value for most system configurations. */ float wheel_tick_output_interval_sec = NAN;