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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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src/modules/logger/logged_topics.cpp
+2 -1
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@@ -57,7 +57,8 @@ void LoggedTopics::add_default_topics()
add_topic("commander_state");
add_topic("config_overrides");
add_topic("cpuload");
add_optional_topic("differential_drive_setpoint", 100);
add_optional_topic("feed_forward_differential_drive_setpoint", 100);
add_optional_topic("closed_loop_differential_drive_setpoint", 100);
add_optional_topic("external_ins_attitude");
add_optional_topic("external_ins_global_position");
add_optional_topic("external_ins_local_position");