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Support offboard velocity setpoints for rover (#13225)

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* Enable velocity control for rover

* Address comments

* Use pid for speed control

* Calculate steering commands correctly

* Use local velocity estimates to avoid global position dependency
This commit is contained in:
JaeyoungLim
2019-10-24 10:40:20 +02:00
committed by Julian Oes
parent b5ba1665f6
commit 2fc5789d68
2 changed files with 71 additions and 22 deletions
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src/modules/rover_pos_control/RoverPositionControl.hpp
+1
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@@ -180,5 +180,6 @@ private:
*/
bool control_position(const matrix::Vector2f &global_pos, const matrix::Vector3f &ground_speed,
const position_setpoint_triplet_s &_pos_sp_triplet);
void control_velocity(const matrix::Vector3f &current_velocity, const position_setpoint_triplet_s &pos_sp_triplet);
};