Use REP103 SI Units Convention

buoy_interfaces/msg/PCRecord.msg

@@ -1,22 +1,23 @@
 # Power Controller
 
+# All SI Units (REP103)
 std_msgs/Header header  # time
 int16 seq_num
 float32 rpm
 float32 sd_rpm
-float32 voltage
-float32 draw_curr_limit
-float32 bcurrent
-float32 wcurrent
-float32 torque
-float32 diff_press
-float32 bias_current
-float32 loaddc
+float32 voltage  # V
+float32 draw_curr_limit  # A
+float32 bcurrent  # A
+float32 wcurrent  # A
+float32 torque  # N*m
+float32 diff_press  # Pa
+float32 bias_current  # A
+float32 loaddc  # A
 float32 scale
 float32 retract
-float32 target_v
-float32 target_a
-float32 charge_curr_limit
+float32 target_v  # V
+float32 target_a  # A
+float32 charge_curr_limit  # A
 
 # Note: Not Currently Implemented in Sim Controller
 uint16 MODE=1  # controller mode. specified by defines in config.h (GENERATOR_MODE, TORQUE_MODE)

buoy_interfaces/msg/SCRecord.msg

@@ -1,14 +1,15 @@
 #Spring Controller
 
+# All SI units
 std_msgs/Header header  # time
 int16 seq_num
-int16 load_cell
-float32 range_finder
-float32 upper_psi
-float32 lower_psi
+int16 load_cell  # N
+float32 range_finder  # m
+float32 upper_pressure  # Pa
+float32 lower_pressure  # Pa
 int64 epoch
-float32 salinity
-float32 temperature
+float32 salinity  # UNUSED
+float32 temperature  # C, UNUSED
 
 uint16 RELIEF_VALVE_REQUEST=1  # Request to open/close valve
 uint16 RELIEF_VALVE_STATUS=128  # Status of Relief valve open/close