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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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Codecov Report
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## gz-msgs9 #317 +/- ##
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Hits 979 979
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caguero
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caguero
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Looks good to me, just a few minor clarifications and suggestions.
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| enum ReferenceType | ||
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| DVL_REFERENCE_UNSPECIFIED = 0; |
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Could you document each element of the enum?
proto/gz/msgs/dvl_beam_state.proto
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| /// \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.
| 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?
| /// \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?
| 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>
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Alright, going in! |
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@nkoenig would it be possible to roll out a |
I can help with the release. |
3 participants
🎉 New feature
Summary
This patch brings a number of DVL specific messages, necessary for DVL sensor interfaces.
Test it
TBD
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.