fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 14:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

rover: reduce speed based on course error

Browse Source
This commit is contained in:
chfriedrich98
2025-06-18 08:35:48 +02:00
committed by chfriedrich98
parent 5a430f0ba6
commit eed966a1c6
21 changed files with 123 additions and 172 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/rover_control/rovercontrol_params.c
+18
View File
@@ -253,3 +253,21 @@ PARAM_DEFINE_FLOAT(RO_JERK_LIM, -1.f);
* @group Rover Velocity Control
*/
PARAM_DEFINE_FLOAT(RO_SPEED_TH, 0.1f);
/**
* Tuning parameter for the speed reduction based on the course error
*
* Reduced_speed = RO_MAX_THR_SPEED * (1 - normalized_course_error * RO_SPEED_RED)
* The normalized course error is the angle between the current course and the bearing setpoint
* interpolated from [0, 180] -> [0, 1].
* Higher value -> More speed reduction.
* Note: This is also used to calculate the speed at which the vehicle arrives at a waypoint in auto modes.
* Set to -1 to disable bearing error based speed reduction.
*
* @min -1
* @max 100
* @increment 0.01
* @decimal 2
* @group Rover Velocity Control
*/
PARAM_DEFINE_FLOAT(RO_SPEED_RED, -1.f);