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ackermann: refactor code architecture

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chfriedrich98
2025-02-10 15:54:24 +01:00
committed by Silvan Fuhrer
parent ce64263ce7
commit 55f51d7e7e
40 changed files with 2418 additions and 1337 deletions
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src/modules/rover_pos_control/rover_pos_control_params.c
+17 -17
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@@ -57,7 +57,7 @@
* @min 0.0
* @decimal 3
* @increment 0.01
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_WHEEL_BASE, 0.31f);
@@ -73,7 +73,7 @@ PARAM_DEFINE_FLOAT(GND_WHEEL_BASE, 0.31f);
* @max 50.0
* @decimal 1
* @increment 0.1
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_L1_DIST, 1.0f);
@@ -90,7 +90,7 @@ PARAM_DEFINE_FLOAT(GND_L1_DIST, 1.0f);
* @max 50.0
* @decimal 1
* @increment 0.5
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_L1_PERIOD, 5.0f);
@@ -103,7 +103,7 @@ PARAM_DEFINE_FLOAT(GND_L1_PERIOD, 5.0f);
* @max 0.9
* @decimal 2
* @increment 0.05
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_L1_DAMPING, 0.75f);
@@ -118,7 +118,7 @@ PARAM_DEFINE_FLOAT(GND_L1_DAMPING, 0.75f);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_THR_CRUISE, 0.1f);
@@ -133,7 +133,7 @@ PARAM_DEFINE_FLOAT(GND_THR_CRUISE, 0.1f);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_THR_MAX, 0.3f);
@@ -148,7 +148,7 @@ PARAM_DEFINE_FLOAT(GND_THR_MAX, 0.3f);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_THR_MIN, 0.0f);
@@ -160,7 +160,7 @@ PARAM_DEFINE_FLOAT(GND_THR_MIN, 0.0f);
* @max 1
* @value 0 open loop control
* @value 1 close the loop with gps speed
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_INT32(GND_SP_CTRL_MODE, 1);
@@ -174,7 +174,7 @@ PARAM_DEFINE_INT32(GND_SP_CTRL_MODE, 1);
* @max 50.0
* @decimal 3
* @increment 0.005
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_P, 2.0f);
@@ -188,7 +188,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_P, 2.0f);
* @max 50.0
* @decimal 3
* @increment 0.005
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_I, 3.0f);
@@ -202,7 +202,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_I, 3.0f);
* @max 50.0
* @decimal 3
* @increment 0.005
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_D, 0.001f);
@@ -216,7 +216,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_D, 0.001f);
* @max 50.0
* @decimal 3
* @increment 0.005
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_IMAX, 1.0f);
@@ -230,7 +230,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_IMAX, 1.0f);
* @max 50.0
* @decimal 3
* @increment 0.005
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_THR_SC, 1.0f);
@@ -243,7 +243,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_THR_SC, 1.0f);
* @max 40
* @decimal 1
* @increment 0.5
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_TRIM, 3.0f);
@@ -256,7 +256,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_TRIM, 3.0f);
* @max 40
* @decimal 1
* @increment 0.5
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_MAX, 10.0f);
@@ -271,7 +271,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_MAX, 10.0f);
* @max 3.14159
* @decimal 3
* @increment 0.01
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_MAX_ANG, 0.7854f);
@@ -282,6 +282,6 @@ PARAM_DEFINE_FLOAT(GND_MAX_ANG, 0.7854f);
* @min 0.0
* @max 400
* @decimal 1
* @group Rover Position Control
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_MAN_Y_MAX, 150.0f);