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交互程序基本完成,需要增加锁相功能

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zhaojingkui
2025-06-12 09:12:17 +08:00
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# 150 auv 软件结构
# 150 auv 适配接口
## 发布变量
根据pNodeReporter模块订阅的变量，需要发布的变量如下
NAV_X: The ownship vehicle position on the x axis of local coordinates.
NAV_Y: The ownship vehicle position on the y axis of local coordinates.
NAV_LAT: The ownship vehicle position on the y axis of global coordinates.
NAV_LONG: The ownship vehicle position on the x axis of global coordinates.
NAV_HEADING: The ownship vehicle heading in degrees.
NAV_YAW: The ownship vehicle yaw in radians.
NAV_SPEED: The ownship vehicle speed in meters per second.
NAV_DEPTH: The ownship vehicle depth in meters.