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rover: guard computeMaxSpeedFromDistance against disabled decel/jerk limits (#26452)

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Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>
This commit is contained in:
fakerror
2026-02-20 04:52:41 +08:00
committed by GitHub
parent b4601278db
commit 6cf8d80bdd
3 changed files with 18 additions and 9 deletions
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src/modules/rover_ackermann/AckermannPosControl/AckermannPosControl.cpp
+6 -3
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@@ -67,9 +67,12 @@ void AckermannPosControl::updatePosControl()
if (distance_to_target > _acceptance_radius || _arrival_speed > FLT_EPSILON) {
float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
_param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
speed_setpoint = math::min(speed_setpoint, _cruising_speed);
float speed_setpoint{_cruising_speed};
if (_param_ro_decel_limit.get() > FLT_EPSILON && _param_ro_jerk_limit.get() > FLT_EPSILON) {
speed_setpoint = math::min(math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
_param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed)), _cruising_speed);
}
pure_pursuit_status_s pure_pursuit_status{};
pure_pursuit_status.timestamp = timestamp;
src/modules/rover_differential/DifferentialPosControl/DifferentialPosControl.cpp
+6 -3
View File
@@ -65,9 +65,12 @@ void DifferentialPosControl::updatePosControl()
}
if (distance_to_target > _param_nav_acc_rad.get() || _arrival_speed > FLT_EPSILON) {
float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
_param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
speed_setpoint = math::min(speed_setpoint, _cruising_speed);
float speed_setpoint{_cruising_speed};
if (_param_ro_decel_limit.get() > FLT_EPSILON && _param_ro_jerk_limit.get() > FLT_EPSILON) {
speed_setpoint = math::min(math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
_param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed)), _cruising_speed);
}
pure_pursuit_status_s pure_pursuit_status{};
pure_pursuit_status.timestamp = timestamp;
src/modules/rover_mecanum/MecanumPosControl/MecanumPosControl.cpp
+6 -3
View File
@@ -66,9 +66,12 @@ void MecanumPosControl::updatePosControl()
if (distance_to_target > _param_nav_acc_rad.get() || _arrival_speed > FLT_EPSILON) {
float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
_param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
speed_setpoint = math::min(speed_setpoint, _cruising_speed);
float speed_setpoint{_cruising_speed};
if (_param_ro_decel_limit.get() > FLT_EPSILON && _param_ro_jerk_limit.get() > FLT_EPSILON) {
speed_setpoint = math::min(math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
_param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed)), _cruising_speed);
}
pure_pursuit_status_s pure_pursuit_status{};
pure_pursuit_status.timestamp = timestamp;