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rover: replace RX_MAX_THR_YAW_R with a correction factor RO_YAW_RATE_CORR

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chfriedrich98
2025-06-18 08:35:48 +02:00
committed by chfriedrich98
parent 3e8f054a1c
commit f35b92a487
16 changed files with 51 additions and 59 deletions
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src/lib/rover_control/rovercontrol_params.c
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@@ -131,6 +131,22 @@ PARAM_DEFINE_FLOAT(RO_YAW_ACCEL_LIM, -1.f);
*/
PARAM_DEFINE_FLOAT(RO_YAW_DECEL_LIM, -1.f);
/**
* Yaw rate correction factor
*
* Multiplicative correction factor for the feedforward mapping of the yaw rate controller.
* Increase this value (x > 1) if the measured yaw rate is lower than the setpoint, decrease (0 < x < 1) otherwise.
* Note: Tuning this is particularly useful for skid-steered rovers, or rovers with misaligned wheels/steering axes
* that cause a lot of friction when turning.
*
* @min 0.01
* @max 10000
* @increment 0.01
* @decimal 2
* @group Rover Rate Control
*/
PARAM_DEFINE_FLOAT(RO_YAW_RATE_CORR, 1.f);
/**
* Proportional gain for closed loop yaw controller
*