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mecanum: separate velocity control

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chfriedrich98
2025-05-05 11:38:17 +02:00
committed by chfriedrich98
parent 3c39095271
commit 04512ee91f
15 changed files with 857 additions and 488 deletions
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src/modules/rover_mecanum/MecanumAttControl/MecanumAttControl.cpp
+1 -1
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@@ -92,7 +92,7 @@ void MecanumAttControl::updateAttControl()
rover_attitude_status_s rover_attitude_status;
rover_attitude_status.timestamp = _timestamp;
rover_attitude_status.measured_yaw = _vehicle_yaw;
rover_attitude_status.adjusted_yaw_setpoint = _adjusted_yaw_setpoint.getState();
rover_attitude_status.adjusted_yaw_setpoint = matrix::wrap_pi(_adjusted_yaw_setpoint.getState());
_rover_attitude_status_pub.publish(rover_attitude_status);
}
src/modules/rover_mecanum/MecanumAttControl/MecanumAttControl.hpp
+1 -1
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@@ -126,7 +126,7 @@ private:
float _vehicle_yaw{0.f};
float _dt{0.f};
float _max_yaw_rate{0.f};
float _stab_yaw_setpoint{0.f}; // Yaw setpoint for stab mode, NAN if yaw rate is manually controlled [rad]
float _stab_yaw_setpoint{NAN}; // Yaw setpoint for stab mode, NAN if yaw rate is manually controlled [rad]
bool _prev_param_check_passed{true};
// Controllers