<commit_before>syntax = "proto2";
package apollo.control;

import "modules/canbus/proto/chassis.proto";
import "modules/common/proto/header.proto";
import "modules/control/proto/pad_msg.proto";

enum TurnSignal {
  TURN_NONE = 0;
  TURN_LEFT = 1;
  TURN_RIGHT = 2;
}

message LatencyStats {
  optional double total_time_ms = 1;
  repeated double controller_time_ms = 2;
}

message ControlCommand {
  optional apollo.common.Header header = 1;
  // target throttle in percentage [0, 100]
  optional double throttle = 3;

  // target brake in percentage [0, 100]
  optional double brake = 4;

  // target steering rate, in percentage of full scale per second [-100, 100]
  optional double steering_rate = 6;

  // target steerig angle, in percentage of full scalce [-100, 100]
  optional double steering_target = 7;

  // parking brake engage. true: engaged
  optional bool parking_brake = 8;<commit_msg>Fixing description of steering rate.<commit_after>syntax = "proto2";
package apollo.control;

import "modules/canbus/proto/chassis.proto";
import "modules/common/proto/header.proto";
import "modules/control/proto/pad_msg.proto";

enum TurnSignal {
  TURN_NONE = 0;
  TURN_LEFT = 1;
  TURN_RIGHT = 2;
}

message LatencyStats {
  optional double total_time_ms = 1;
  repeated double controller_time_ms = 2;
}

message ControlCommand {
  optional apollo.common.Header header = 1;
  // target throttle in percentage [0, 100]
  optional double throttle = 3;

  // target brake in percentage [0, 100]
  optional double brake = 4;

  // target non-directional steering rate, in percentage of full scale per second [0, 100]
  optional double steering_rate = 6;

  // target steering angle, in percentage of full scale [-100, 100]
  optional double steering_target = 7;

  // parking brake engage. true: engaged
  optional bool parking_brake = 8;
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