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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/uxrce_dds_client/dds_topics.yaml
+4 -1
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@@ -127,7 +127,10 @@ subscriptions:
- topic: /fmu/in/vehicle_rates_setpoint
type: px4_msgs::msg::VehicleRatesSetpoint
- topic: /fmu/in/differential_drive_setpoint
- topic: /fmu/in/feed_forward_differential_drive_setpoint
type: px4_msgs::msg::DifferentialDriveSetpoint
- topic: /fmu/in/closed_loop_differential_drive_setpoint
type: px4_msgs::msg::DifferentialDriveSetpoint
- topic: /fmu/in/vehicle_visual_odometry