fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 02:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

ackermann: add lateral acceleration setpoint, acro/position mode and updates to auto modes

Browse Source
This commit is contained in:
chfriedrich98
2024-10-31 16:15:37 +01:00
committed by chfriedrich98
parent 6a7edac10d
commit e8f8bc9af7
10 changed files with 258 additions and 82 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/RoverAckermannSetpoint.msg
+5 -4
View File
@@ -1,8 +1,9 @@
uint64 timestamp # time since system start (microseconds)
float32 forward_speed_setpoint # [m/s] Desired forward speed for the rover
float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward speed for the rover
float32 steering_setpoint # [rad/s] Desired steering for the rover
float32 steering_setpoint_normalized # [-1, 1] Desired normalized steering for the rover
float32 forward_speed_setpoint # [m/s] Desired speed in body x direction. Positiv: forwards, Negativ: backwards
float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized speed in body x direction. Positiv: forwards, Negativ: backwards
float32 steering_setpoint # [rad] Desired steering angle
float32 steering_setpoint_normalized # [-1, 1] Desired normalized steering angle
float32 lateral_acceleration_setpoint # [m/s^2] Desired acceleration in body y direction. Positiv: right, Negativ: left.
# TOPICS rover_ackermann_setpoint