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Roboclaw: Working temporary version that drives around

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This commit is contained in:
PerFrivik
2023-10-10 16:04:20 +02:00
committed by Matthias Grob
parent 184993daa3
commit c7e780cb6d
4 changed files with 62 additions and 26 deletions
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src/modules/rover_pos_control/RoverPositionControl.cpp
+2 -2
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@@ -113,7 +113,7 @@ RoverPositionControl::vehicle_control_mode_poll()
void
RoverPositionControl::manual_control_setpoint_poll()
{
if (_control_mode.flag_control_manual_enabled) {
if (true) {
if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) {
float dt = math::constrain(hrt_elapsed_time(&_manual_setpoint_last_called) * 1e-6f, 0.0002f, 0.04f);
@@ -431,7 +431,7 @@ RoverPositionControl::Run()
matrix::Vector2d current_position(_global_pos.lat, _global_pos.lon);
matrix::Vector3f current_velocity(_local_pos.vx, _local_pos.vy, _local_pos.vz);
if (!_control_mode.flag_control_manual_enabled && _control_mode.flag_control_position_enabled) {
if (false) {
if (control_position(current_position, ground_speed, _pos_sp_triplet)) {