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mecanum: add slew rates to yaw, yaw rate and speed setpoints

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chfriedrich98
2024-11-12 17:05:10 +01:00
committed by chfriedrich98
parent 54abc59283
commit 5dcccd999c
5 changed files with 263 additions and 81 deletions
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msg/RoverMecanumStatus.msg
+13 -9
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@@ -1,13 +1,17 @@
uint64 timestamp # time since system start (microseconds)
float32 measured_forward_speed # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
float32 measured_lateral_speed # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint output of the closed loop yaw controller
float32 measured_yaw_rate # [rad/s] Measured yaw rate
float32 measured_yaw # [rad] Measured yaw
float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
float32 pid_forward_throttle_integral # Integral of the PID for the closed loop forward speed controller
float32 pid_lateral_throttle_integral # Integral of the PID for the closed loop lateral speed controller
float32 measured_forward_speed # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
float32 measured_lateral_speed # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
float32 adjusted_lateral_speed_setpoint # [m/s] Speed setpoint after applying slew rate
float32 measured_yaw_rate # [rad/s] Measured yaw rate
float32 clyaw_yaw_rate_setpoint # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint from the closed loop yaw controller
float32 measured_yaw # [rad] Measured yaw
float32 adjusted_yaw_setpoint # [rad] Yaw setpoint after applying slew rate
float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
float32 pid_forward_throttle_integral # Integral of the PID for the closed loop forward speed controller
float32 pid_lateral_throttle_integral # Integral of the PID for the closed loop lateral speed controller
# TOPICS rover_mecanum_status