diff options
Diffstat (limited to 'sensors-service/api/steering-angle.h')
| -rw-r--r-- | sensors-service/api/steering-angle.h | 21 |
1 files changed, 14 insertions, 7 deletions
diff --git a/sensors-service/api/steering-angle.h b/sensors-service/api/steering-angle.h index fab2007..eef9734 100644 --- a/sensors-service/api/steering-angle.h +++ b/sensors-service/api/steering-angle.h @@ -37,15 +37,20 @@ typedef enum { /** * The SteeringAngle delivers the sensor values of the steering angle. + * The reference coordinate system including the sign of the angles are defined in ISO 8855:2011, section 7 + * * You must check the valid bits before usage. */ typedef struct { uint64_t timestamp; /**< Timestamp of the acquisition of the steering angle signal [ms]. All sensor/GNSS timestamps must be based on the same time source. */ - float front; /**< Returns the steering angle of the front wheels [degree]. */ - float rear; /**< Returns the steering angle of the rear wheels [degree]. This is only useful for vehicles with a steerable rear axis. */ - float steeringWheel; /**< Returns the angle of the steering wheel [degree]. Useful for vehicles where the wheel angles are not available. - Must be used in combination with the steeringRatio. */ + float front; /**< Returns the mean steer angle of the front wheels [degree]. + @ref ISO 8855:2011, section 7.1.3. */ + float rear; /**< Returns the mean steer angle of the rear wheels [degree]. + @ref ISO 8855:2011, section 7.1.3. */ + float steeringWheel; /**< Returns the angle of the steering wheel [degree]. + @ref ISO 8855:2011, section 7.1.8. + Must be used in combination with the steeringRatio @ref TSteeringAngleConfiguration. */ uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. [bitwise or'ed @ref ESteeringAngleValidityBits values]. Must be checked before usage. */ @@ -55,9 +60,11 @@ typedef struct { * The SteeringAngleConfiguration delivers the static configuration values of the steering wheel sensor service. */ typedef struct { - float sigmaSteeringAngle; /**< Standard deviation of the steering front angle in [degree]. */ - float sigmaSteeringWheelAngle; /**< Standard deviation of the steering wheel angle in [degree]. */ - float steeringRatio; /**< Steering ratio between steering wheel and wheels. Only valid when static: Unit: [-] */ + float sigmaSteeringAngle; /**< Standard error estimate of the front steer angle in [degree]. -1 if invalid.*/ + float sigmaSteeringWheelAngle; /**< Standard error estimate of the steering wheel angle in [degree]. -1 if invalid.*/ + float steeringRatio; /**< Ratio between steering wheel angle change and front steer angle change. + @ref ISO 8855:2011, section 7.1.13. + Only valid when static. 0 if invalid. Unit: [-] */ } TSteeringAngleConfiguration; /** |