From 8aece9bff21c0d830c7dfeae6921095a619d5997 Mon Sep 17 00:00:00 2001 From: chfriedrich98 Date: Tue, 17 Sep 2024 16:58:46 +0200 Subject: [PATCH] differential: fix CI issue --- .../rover_differential/RoverDifferential.hpp | 18 ++++++++---------- 1 file changed, 8 insertions(+), 10 deletions(-) diff --git a/src/modules/rover_differential/RoverDifferential.hpp b/src/modules/rover_differential/RoverDifferential.hpp index ad238aa428..8d83519410 100644 --- a/src/modules/rover_differential/RoverDifferential.hpp +++ b/src/modules/rover_differential/RoverDifferential.hpp @@ -61,6 +61,14 @@ using namespace time_literals; +// Constants +static constexpr float STICK_DEADZONE = + 0.1f; // [0, 1] Percentage of stick input range that will be interpreted as zero around the stick centered value +static constexpr float YAW_RATE_THRESHOLD = + 0.02f; // [rad/s] The minimum threshold for the yaw rate measurement not to be interpreted as zero +static constexpr float SPEED_THRESHOLD = + 0.1f; // [m/s] The minimum threshold for the speed measurement not to be interpreted as zero + class RoverDifferential : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem { @@ -120,16 +128,6 @@ private: Vector2f _pos_ctl_course_direction{}; // Course direction for Position mode Vector2f _pos_ctl_start_position_ned{}; // Initial rover position for course control in Position mode - // Thresholds to avoid moving at rest due to measurement noise - static constexpr float YAW_RATE_THRESHOLD = - 0.02f; // [rad/s] The minimum threshold for the yaw rate measurement not to be interpreted as zero - static constexpr float SPEED_THRESHOLD = - 0.1f; // [m/s] The minimum threshold for the speed measurement not to be interpreted as zero - - // Stick input deadzone - static constexpr float STICK_DEADZONE = - 0.1f; // [0, 1] Percentage of stick input range that will be interpreted as zero around the stick centered value - DEFINE_PARAMETERS( (ParamFloat) _param_rd_man_yaw_scale, (ParamFloat) _param_rd_max_yaw_rate,