ackermann: refactor code architecture

2026-10-19 20:23:33 +08:00 · 2025-02-10 15:54:24 +01:00
parent ce64263ce7
commit 55f51d7e7e
40 changed files with 2418 additions and 1337 deletions
@@ -0,0 +1,7 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 measured_yaw_rate          # [rad/s] Measured yaw rate
+float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint that is being tracked (Applied slew rates)
+float32 pid_yaw_rate_integral      # Integral of the PID for the closed loop yaw rate controller
+
+# TOPICS rover_rate_status