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ackermann: fix PID implementation

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chfriedrich98
2024-11-11 16:40:27 +01:00
committed by chfriedrich98
parent 4f00df60ae
commit 0ee580f139
1 changed files with 4 additions and 4 deletions
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src/modules/rover_ackermann/RoverAckermannControl/RoverAckermannControl.cpp
+4 -4
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@@ -53,14 +53,14 @@ void RoverAckermannControl::updateParams()
_param_ra_speed_p.get(), // Proportional gain
_param_ra_speed_i.get(), // Integral gain
0, // Derivative gain
1, // Integral limit
_param_ra_speed_i.get() > FLT_EPSILON ? 1.f / _param_ra_speed_i.get() : 0.f, // Integral limit
1); // Output limit
pid_set_parameters(&_pid_lat_accel,
_param_ra_lat_accel_p.get(), // Proportional gain
_param_ra_lat_accel_i.get(), // Integral gain
0, // Derivative gain
1, // Integral limit
_param_ra_lat_accel_i.get() > FLT_EPSILON ? 1.f / _param_ra_lat_accel_i.get() : 0.f, // Integral limit
1); // Output limit
// Update slew rates
@@ -156,8 +156,8 @@ void RoverAckermannControl::computeMotorCommands(const float vehicle_forward_spe
_rover_ackermann_status.steering_setpoint_normalized = steering_normalized;
_rover_ackermann_status.adjusted_steering_setpoint_normalized = _steering_with_rate_limit.getState();
_rover_ackermann_status.measured_lateral_acceleration = vehicle_lateral_acceleration;
_rover_ackermann_status.pid_throttle_integral = _pid_throttle.integral;
_rover_ackermann_status.pid_lat_accel_integral = _pid_lat_accel.integral;
_rover_ackermann_status.pid_throttle_integral = _pid_throttle.integral * _param_ra_speed_i.get();
_rover_ackermann_status.pid_lat_accel_integral = _pid_lat_accel.integral * _param_ra_lat_accel_i.get();
_rover_ackermann_status_pub.publish(_rover_ackermann_status);
// Publish to motor