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differential: add slew rates for setpoints, deprecate RD_MAN_YAW_SCALE and update airframe tuning

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chfriedrich98
2024-09-17 10:15:36 +02:00
committed by chfriedrich98
parent fbbfcdb7a6
commit 4f00df60ae
12 changed files with 300 additions and 125 deletions
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msg/RoverDifferentialSetpoint.msg
+1 -1
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@@ -3,7 +3,7 @@ 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 yaw_rate_setpoint_normalized # [-1, 1] Normalized yaw rate for the rover
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
+10 -9
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@@ -1,13 +1,14 @@
uint64 timestamp # time since system start (microseconds)
float32 actual_speed # [m/s] Actual forward speed of the rover
float32 actual_yaw # [rad] Actual yaw of the rover
float32 actual_yaw_rate # [rad/s] Actual yaw rate of the rover
float32 desired_yaw_rate # [rad/s] Yaw rate setpoint for the closed loop yaw rate controller
float32 forward_speed_normalized # [-1, 1] Normalized forward speed setpoint
float32 speed_diff_normalized # [-1, 1] Normalized speed difference setpoint between the left and right motor
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
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