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- split up old module into two, one handling setpoint generation, one control - add lateral and longitudinal control setpoints topics that can also be injected from companion computer - add configuration topics that (optionally) configure the controller with limits and momentary settings Signed-off-by: RomanBapst <bapstroman@gmail.com>
4 lines
124 B
Plaintext
4 lines
124 B
Plaintext
uint64 timestamp
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float32 lateral_accel_max # [m/s^2] maps 1:1 to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
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