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779a55c6dc
- 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>
11 lines
739 B
Plaintext
11 lines
739 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 course_setpoint # bearing angle (same as course) [rad]
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float32 lateral_acceleration_ff # lateral acceleration demand only for maintaining curvature [m/s^2]
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float32 bearing_feas # bearing feasibility [0,1]
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float32 bearing_feas_on_track # on-track bearing feasibility [0,1]
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float32 signed_track_error # signed track error [m]
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float32 track_error_bound # track error bound [m]
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float32 adapted_period # adapted period (if auto-tuning enabled) [s]
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uint8 wind_est_valid # (boolean) true = wind estimate is valid and/or being used by controller (also indicates if wind est usage is disabled despite being valid)
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