fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 14:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Differential Rover: Refactor and clean up, align with Ackermann rover(#24318)

Browse Source 
* differential: refactor code architecture

* Offboard fix

* fix accel/decel slew rate
This commit is contained in:
chfriedrich98
2025-02-18 18:26:38 +01:00
committed by GitHub
parent 3c129aefa1
commit 04a3c4af20
29 changed files with 1722 additions and 1362 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/CMakeLists.txt
-3
View File
@@ -179,9 +179,6 @@ set(msg_files
RoverRateStatus.msg
RoverSteeringSetpoint.msg
RoverThrottleSetpoint.msg
RoverDifferentialGuidanceStatus.msg
RoverDifferentialSetpoint.msg
RoverDifferentialStatus.msg
RoverMecanumGuidanceStatus.msg
RoverMecanumSetpoint.msg
RoverMecanumStatus.msg
msg/RoverDifferentialGuidanceStatus.msg
-7
View File
@@ -1,7 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
float32 heading_error_deg # [deg] Heading error of the pure pursuit controller
uint8 state_machine # Driving state of the rover [0: SPOT_TURNING, 1: DRIVING, 2: GOAL_REACHED]
# TOPICS rover_differential_guidance_status
msg/RoverDifferentialSetpoint.msg
-9
View File
@@ -1,9 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 forward_speed_setpoint # [m/s] Desired forward speed for the rover
float32 forward_speed_setpoint_normalized # [-1, 1] Normalized forward speed for the rover
float32 yaw_rate_setpoint # [rad/s] Desired yaw rate for the rover (Overriden by yaw controller if yaw_setpoint is used)
float32 speed_diff_setpoint_normalized # [-1, 1] Normalized speed difference between the left and right wheels
float32 yaw_setpoint # [rad] Desired yaw (heading) for the rover
# TOPICS rover_differential_setpoint
msg/RoverDifferentialStatus.msg
-14
View File
@@ -1,14 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 measured_forward_speed # [m/s] Measured speed in body x direction. Forwards: positiv, Backwards: negativ
float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
float32 measured_yaw # [rad] Measured yaw
float32 adjusted_yaw_setpoint # [rad] Yaw setpoint after applying slew rate
float32 clyaw_yaw_rate_setpoint # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
float32 measured_yaw_rate # [rad/s] Measured yaw rate
float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint from the closed loop yaw controller
float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
float32 pid_throttle_integral # Integral of the PID for the closed loop speed controller
# TOPICS rover_differential_status