fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-31 05:51:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
chfriedrich98
2024-11-11 14:44:10 +01:00
committed by chfriedrich98
parent fbbfcdb7a6
commit 4f00df60ae
12 changed files with 300 additions and 125 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/rover_differential/RoverDifferentialGuidance/RoverDifferentialGuidance.cpp
+3 -3
View File
@@ -91,9 +91,9 @@ void RoverDifferentialGuidance::computeGuidance(const float vehicle_yaw, const f
desired_forward_speed = _max_forward_speed;
if (_waypoint_transition_angle < M_PI_F - _param_rd_trans_drv_trn.get()) {
if (_param_rd_max_jerk.get() > FLT_EPSILON && _param_rd_max_accel.get() > FLT_EPSILON) {
if (_param_rd_max_jerk.get() > FLT_EPSILON && _param_rd_max_decel.get() > FLT_EPSILON) {
desired_forward_speed = math::trajectory::computeMaxSpeedFromDistance(_param_rd_max_jerk.get(),
_param_rd_max_accel.get(), distance_to_curr_wp, 0.0f);
_param_rd_max_decel.get(), distance_to_curr_wp, 0.0f);
desired_forward_speed = math::constrain(desired_forward_speed, -_max_forward_speed, _max_forward_speed);
}
}
@@ -130,7 +130,7 @@ void RoverDifferentialGuidance::computeGuidance(const float vehicle_yaw, const f
rover_differential_setpoint.forward_speed_setpoint = desired_forward_speed;
rover_differential_setpoint.forward_speed_setpoint_normalized = NAN;
rover_differential_setpoint.yaw_rate_setpoint = NAN;
rover_differential_setpoint.yaw_rate_setpoint_normalized = NAN;
rover_differential_setpoint.speed_diff_setpoint_normalized = NAN;
rover_differential_setpoint.yaw_setpoint = desired_yaw;
_rover_differential_setpoint_pub.publish(rover_differential_setpoint);
}