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DifferentialDrive: Rework structure

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3 Components Guidance - Control - Allocation
with their corresponding uORB interface.
This commit is contained in:
Matthias Grob
2024-01-23 16:33:27 +01:00
parent f85144ca76
commit 396ef222ee
16 changed files with 405 additions and 228 deletions
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msg/DifferentialDriveSetpoint.msg
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@@ -1,6 +1,8 @@
uint64 timestamp # time since system start (microseconds)
float32 speed # [m/s] collective roll-off speed in body x-axis
bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward
float32 yaw_rate # [rad/s] yaw rate
bool closed_loop_yaw_rate_control # true if yaw rate is controlled using gyroscope feedback, false if direct feed-forward
# TOPICS differential_drive_setpoint differential_drive_control_output