chfriedrich98
4a5eabb61e
rover: constrain update steps
2025-08-22 12:13:01 +02:00
chfriedrich98
8e5cd59502
rover: fix setpoint generation
2025-08-21 13:33:19 +02:00
chfriedrich98
e06f7f243c
rover: add exponential scaling to manual yaw rate input
2025-08-14 12:00:33 +02:00
chfriedrich98
b8dacf5ae4
rover: fix speed setpoint in position controller
2025-07-15 13:55:28 +02:00
chfriedrich98
14c0908082
gz_classic: update submodule
2025-07-10 10:11:58 +02:00
chfriedrich98
beb62c2aad
docs: remove docs for deprecated rover module
2025-07-10 10:11:58 +02:00
chfriedrich98
d2d3d8a5fd
lib: remove unused l1 library
2025-07-10 10:11:58 +02:00
chfriedrich98
e266d1f22f
rover: remove deprecated module
2025-07-10 10:11:58 +02:00
chfriedrich98
9a0b666deb
rover: base setpoint generation on nav_state
2025-07-09 10:38:20 +02:00
chfriedrich98
90a4b4798d
rover: expose rover messages to DDS
2025-07-09 08:58:13 +02:00
chfriedrich98
60010ba057
rover: Update rover setpoints to new uORB message standard
2025-07-09 08:58:13 +02:00
chfriedrich98
8af75adcbe
gz: update submodule
2025-07-01 10:38:53 +02:00
chfriedrich98
5b1f58c069
differential: add generic differential rover gazebo airframe
2025-07-01 10:38:53 +02:00
chfriedrich98
22f4222795
docs: overhaul rover documentation
2025-06-25 13:03:46 +10:00
chfriedrich98
f35b92a487
rover: replace RX_MAX_THR_YAW_R with a correction factor RO_YAW_RATE_CORR
2025-06-18 08:35:48 +02:00
chfriedrich98
3e8f054a1c
ackermann: rename DriveModes to AckermannDriveModes
2025-06-18 08:35:48 +02:00
chfriedrich98
eed966a1c6
rover: reduce speed based on course error
2025-06-18 08:35:48 +02:00
chfriedrich98
5a430f0ba6
rover: streamline rover steering setpoint
2025-06-18 08:35:48 +02:00
chfriedrich98
d348bf4828
mecanum: centralize mode management, resets and checks
2025-06-11 14:17:23 +02:00
chfriedrich98
f0c15af426
mecanum: update position controller
2025-06-11 14:17:23 +02:00
chfriedrich98
5e9322899b
mecanum: seperate actuator control
2025-06-11 14:17:23 +02:00
chfriedrich98
38bcc50127
differential: centralize mode management, resets and checks
2025-05-28 09:03:27 +02:00
chfriedrich98
d5dc0a7eb8
differential: update position control
2025-05-28 09:03:27 +02:00
chfriedrich98
ac80958cc5
differential: seperate actuator control
2025-05-28 09:03:27 +02:00
chfriedrich98
0d9cb1f048
ackermann: only control relevant setpoints in manual modes
2025-05-26 15:56:24 +02:00
chfriedrich98
a129a29793
ackermann: split modes into seperate folder
2025-05-26 15:56:24 +02:00
chfriedrich98
47a9b552f8
ackermann: centralize mode management, resets and checks
2025-05-26 15:56:24 +02:00
chfriedrich98
cd486b2da6
ackermann: update position control
2025-05-26 15:56:24 +02:00
chfriedrich98
45540455fe
ackermann: separate actuator control
2025-05-26 15:56:24 +02:00
chfriedrich98
ce9dd237a9
rover: handle invalid bearing setpoint
2025-05-13 10:23:35 +02:00
chfriedrich98
1857920a5f
rover: clean up velocity setpoint
2025-05-13 10:23:35 +02:00
chfriedrich98
b727ce86a0
rover: clean up speed terminology
2025-05-13 10:23:35 +02:00
chfriedrich98
2d23fda77d
rtl_direct: fix function naming
2025-05-07 17:42:07 +02:00
chfriedrich98
4e436cc64e
rover: update land detector
2025-05-07 17:42:07 +02:00
chfriedrich98
771d09b968
navigator: reset next WP in mission fast reverse
2025-05-07 17:42:07 +02:00
chfriedrich98
b78b063fd8
rover: skip to LAND on direct RTL activation
2025-05-07 17:42:07 +02:00
chfriedrich98
f13f9b2240
rover: update rtl time estimator
2025-05-07 17:42:07 +02:00
chfriedrich98
4e17c5496c
mecanum: streamline flow of information
2025-05-05 11:38:17 +02:00
chfriedrich98
04512ee91f
mecanum: separate velocity control
2025-05-05 11:38:17 +02:00
chfriedrich98
39fa8b5550
differential: migrate state machine to velocity control
2025-04-29 14:49:44 +02:00
chfriedrich98
ca01d9e37c
differential: update airframe tuning
2025-04-29 14:49:44 +02:00
chfriedrich98
16c9c175ae
differential: streamline flow of information
2025-04-29 14:49:44 +02:00
chfriedrich98
0ab9071606
differential: seperate velocity control
2025-04-29 14:49:44 +02:00
chfriedrich98
e228456a67
ackermann: update 51001 airframe
2025-04-08 12:27:11 +02:00
chfriedrich98
ca76d287d4
rover: add rover-specific position setpoint
2025-04-08 12:27:11 +02:00
chfriedrich98
9fe98b0724
ackermann: seperate velocity control
2025-04-08 12:27:11 +02:00
chfriedrich98
8eb873a245
ackermann: streamline flow of information
2025-04-08 12:27:11 +02:00
chfriedrich98
c2706f5406
rover: auto mode stopping conditions
2025-03-25 10:38:30 +01:00
chfriedrich98
0671e40f8e
pure_pursuit: migrate params from .yaml to .c
2025-03-10 11:14:00 +01:00
chfriedrich98
d1b0be18b2
pure_pursuit: update library
2025-03-10 11:14:00 +01:00
chfriedrich98
7c63468e8b
mecanum: refactor code architecture
2025-02-25 17:06:17 +01:00
chfriedrich98
55f51d7e7e
ackermann: refactor code architecture
2025-02-10 15:54:24 +01:00
chfriedrich98
be2a3afb83
mecanum: update parameter description
2024-12-02 10:54:43 +01:00
chfriedrich98
ff55313b0b
mecanum: update current position in main file
2024-12-02 10:54:43 +01:00
chfriedrich98
a1b68fcac2
mecanum: update SITL airframe parameters
2024-12-02 10:54:43 +01:00
chfriedrich98
369ce37d65
mecanum: adjust speed setpoints to always be feasible
2024-12-02 10:54:43 +01:00
chfriedrich98
2eda5659eb
mecanum: fix inverse kinematics
2024-12-02 10:54:43 +01:00
chfriedrich98
5dcccd999c
mecanum: add slew rates to yaw, yaw rate and speed setpoints
2024-12-02 10:54:43 +01:00
chfriedrich98
54abc59283
mecanum: deprecate RM_MAN_YAW_SCALE
2024-12-02 10:54:43 +01:00
chfriedrich98
6cce443005
mecanum: deprecate RM_MISS_SPD_DEF
2024-12-02 10:54:43 +01:00
chfriedrich98
7e705bbf55
differential: add slow down effect in mission mode
2024-12-02 10:44:22 +01:00
chfriedrich98
8880569b31
differential: adjust speed setpoint based on yaw rate setpoint
2024-12-02 10:44:22 +01:00
chfriedrich98
233963b2d5
ackermann: deprecate RA_MISS_SPD_DEF and update airframe default params
2024-11-11 16:40:27 +01:00
chfriedrich98
0ee580f139
ackermann: fix PID implementation
2024-11-11 16:40:27 +01:00
chfriedrich98
4f00df60ae
differential: add slew rates for setpoints, deprecate RD_MAN_YAW_SCALE and update airframe tuning
2024-11-11 14:44:10 +01:00
chfriedrich98
e8f8bc9af7
ackermann: add lateral acceleration setpoint, acro/position mode and updates to auto modes
2024-10-31 16:15:37 +01:00
chfriedrich98
6a7edac10d
ackermann: restructure module
2024-10-31 16:15:37 +01:00
chfriedrich98
8aece9bff2
differential: fix CI issue
2024-09-17 09:34:51 -07:00
chfriedrich98
81747f35bb
rover: add descend navigation state to land detection
2024-09-16 09:36:38 +02:00
chfriedrich98
741ea6b707
differential: add individual parameters for speed and yaw rate feedforward
2024-09-11 13:57:27 +02:00
chfriedrich98
5d8a107925
differential: fix closed loop control
...
removed thresholds for closed loop setpoints and added minimum thresholds for yaw rate and speed measurements instead to avoid moving due to measurement noise
2024-09-11 13:57:27 +02:00
chfriedrich98
a294e011ab
purePursuit: fix commenting error
2024-08-08 19:54:42 +02:00
chfriedrich98
1a7717b5d9
ackermann: refactor guidance files
2024-08-08 19:54:42 +02:00
chfriedrich98
1af295f1a9
ackermann: refactor main files
2024-08-08 19:54:42 +02:00
chfriedrich98
176f09b48b
gz_bridge: add rover world to cmake
2024-08-07 10:24:02 -04:00
chfriedrich98
e5657ba011
battery: remove reboot required flag from BAT_N_CELLS
2024-07-30 16:18:47 +02:00
chfriedrich98
9ca9ae5b24
battery: fix initialization for internal resistance estimation
...
Don't run/initialize if number of battery cells is zero and reinitialize whenever this parameter changes.
2024-07-30 16:18:47 +02:00
chfriedrich98
aa0dda7443
ackermann: fix naming conventions
2024-07-19 14:43:40 +02:00
chfriedrich98
f8bebd9e41
ackermann: implement pure pursuit lib
2024-07-19 14:43:40 +02:00
chfriedrich98
a42dc2165c
add pure pursuit library
2024-07-18 13:25:05 +02:00
chfriedrich98
08c790217d
battery: increase max value for battery thresholds
2024-07-18 09:46:58 +02:00
chfriedrich98
5083ec52ec
battery: migrate parameters in .c file to .yaml file
2024-07-18 09:46:58 +02:00
chfriedrich98
c391509c23
ackermann: add SITL airframe
2024-07-10 21:04:59 -04:00
chfriedrich98
3fe609f769
exclude 4017 from v5x to save flash
2024-07-10 12:06:48 +02:00
chfriedrich98
03ff837c50
ackermann: new features and improvements
...
added return mode support, slew rates for actuators, new ackermann specific message, improved cornering slow down effect and fixed logging issue.
2024-07-10 12:06:48 +02:00
chfriedrich98
f65653a391
battery: add internal resistance estimation
2024-07-02 19:05:13 +02:00
chfriedrich98
71029689e7
battery: add replay file for internal resistance estimation
2024-07-02 19:05:13 +02:00
chfriedrich98