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Do not integrate steering input

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This commit is contained in:
Jaeyoung Lim 2022-12-12 17:55:23 +01:00
parent 840d76ef5f
commit 62f0fafe29
1 changed files with 4 additions and 1 deletions
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5
src/modules/rover_pos_control/RoverPositionControl.cpp
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@ -431,8 +431,11 @@ RoverPositionControl::control_rates(const vehicle_angular_velocity_s &rates, con
const matrix::Vector3f angular_acceleration{acc.xyz};
const matrix::Vector3f torque = _rate_control.update(vehicle_rates, rates_setpoint, angular_acceleration, dt,
lock_integrator);
///TODO: Handle mimimum speed constraints
float steering_input = math::constrain(torque(2), -1.0f, 1.0f);
_steering_input = math::constrain(_steering_input + torque(2), -1.0f, 1.0f);
///TODO: Add slew rate constraints
_steering_input = steering_input;
_act_controls.control[actuator_controls_s::INDEX_YAW] = _steering_input;