NPFG: Add fallback for corner cases

2026-05-25 00:31:36 +08:00 · 2023-10-26 08:45:02 +02:00
parent 1c25d65a1e
commit 1d07697a9e
5 changed files with 83 additions and 10 deletions
@@ -14,3 +14,4 @@ float32 min_ground_speed_ref    # minimum forward ground speed reference [m/s]
 float32 adapted_period          # adapted period (if auto-tuning enabled) [s]
 float32 p_gain                  # controller proportional gain [rad/s]
 float32 time_const              # controller time constant [s]
+float32 can_run_factor 	 	# estimate of certainty of the correct functionality of the npfg roll setpoint in [0, 1]