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Differential Rover: Differential drive module & library

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This commit is contained in:
PerFrivik
2023-12-01 11:18:11 +01:00
committed by Per Frivik
parent e3359ea884
commit 3df71d1837
17 changed files with 653 additions and 45 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+2 -1
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@@ -61,6 +61,7 @@ ControlAllocator::ControlAllocator() :
_actuator_servos_pub.advertise();
_actuator_servos_trim_pub.advertise();
for (int i = 0; i < MAX_NUM_MOTORS; ++i) {
char buffer[17];
snprintf(buffer, sizeof(buffer), "CA_R%u_SLEW", i);
@@ -239,7 +240,7 @@ ControlAllocator::update_effectiveness_source()
break;
case EffectivenessSource::ROVER_DIFFERENTIAL:
tmp = new ActuatorEffectivenessRoverDifferential();
// actuator_motors message is published directly from the differential drive controller
break;
case EffectivenessSource::FIXED_WING: