fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 14:08:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

differential: add individual parameters for speed and yaw rate feedforward

Browse Source
This commit is contained in:
chfriedrich98
2024-09-11 13:57:27 +02:00
committed by chfriedrich98
parent 5d8a107925
commit 741ea6b707
8 changed files with 66 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/RoverDifferentialStatus.msg
+9 -7
View File
@@ -1,11 +1,13 @@
uint64 timestamp # time since system start (microseconds)
float32 actual_speed # [m/s] Actual forward speed of the rover
float32 actual_yaw_deg # [deg] Actual yaw of the rover
float32 actual_yaw_rate_deg_s # [deg/s] Actual yaw rate of the rover
float32 desired_yaw_rate_deg_s # [deg/s] Yaw rate setpoint for the closed loop yaw rate 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
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
# TOPICS rover_differential_status