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Differential Drive Guidance: Add guidance

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also add dependency on control allocation parameter CA_R_REV

Differential Drive Guidance: Added mission logic

Differential Drive Guidance

Differential Drive Guidance

Differential Guidance: Inlcude library

Differential Guidance: Compiles, does not work though

Differential Guidance: Works somewhat

Differential Guidance: Temp

Differential Guidance: Tuning

Differeital Drive Guidance: Remove waypoint mover

Differential Guidance: Fixed accuracy issue by converting from float to double

Differential Guidance: rebased on differentialdrive and improved waypoint accuracy

Temp

Differential Guidance: cleanup

temp
This commit is contained in:
PerFrivik
2024-02-12 14:29:10 +01:00
committed by Matthias Grob
parent 0f3925b21d
commit e457a5baed
10 changed files with 495 additions and 17 deletions
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msg/DifferentialDriveSetpoint.msg
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@@ -2,3 +2,5 @@ uint64 timestamp # time since system start (microseconds)
float32 speed # [m/s] collective roll-off speed in body x-axis
float32 yaw_rate # [rad/s] yaw rate
# TOPICS feed_forward_differential_drive_setpoint closed_loop_differential_drive_setpoint