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f8188f0981
Improve the slow down effect and add support for speed change in mission mode. Seperate code related to turning setpoints into motor commands into its own folder and refactor code.
12 lines
668 B
Plaintext
12 lines
668 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 actual_speed # [m/s] Actual forward speed of the rover
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float32 actual_yaw_deg # [deg] Actual yaw of the rover
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float32 actual_yaw_rate_deg_s # [deg/s] Actual yaw rate of the rover
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float32 desired_yaw_rate_deg_s # [deg/s] Yaw rate setpoint for the closed loop yaw rate controller
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float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
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float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
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float32 pid_throttle_integral # Integral of the PID for the closed loop speed controller
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# TOPICS rover_differential_status
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