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differential: fix CI issue

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chfriedrich98
2024-09-17 16:58:46 +02:00
committed by Ramon Roche
parent 2fd4150b38
commit 8aece9bff2
1 changed files with 8 additions and 10 deletions
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src/modules/rover_differential/RoverDifferential.hpp
+8 -10
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@@ -61,6 +61,14 @@
using namespace time_literals;
// Constants
static constexpr float STICK_DEADZONE =
0.1f; // [0, 1] Percentage of stick input range that will be interpreted as zero around the stick centered value
static constexpr float YAW_RATE_THRESHOLD =
0.02f; // [rad/s] The minimum threshold for the yaw rate measurement not to be interpreted as zero
static constexpr float SPEED_THRESHOLD =
0.1f; // [m/s] The minimum threshold for the speed measurement not to be interpreted as zero
class RoverDifferential : public ModuleBase<RoverDifferential>, public ModuleParams,
public px4::ScheduledWorkItem
{
@@ -120,16 +128,6 @@ private:
Vector2f _pos_ctl_course_direction{}; // Course direction for Position mode
Vector2f _pos_ctl_start_position_ned{}; // Initial rover position for course control in Position mode
// Thresholds to avoid moving at rest due to measurement noise
static constexpr float YAW_RATE_THRESHOLD =
0.02f; // [rad/s] The minimum threshold for the yaw rate measurement not to be interpreted as zero
static constexpr float SPEED_THRESHOLD =
0.1f; // [m/s] The minimum threshold for the speed measurement not to be interpreted as zero
// Stick input deadzone
static constexpr float STICK_DEADZONE =
0.1f; // [0, 1] Percentage of stick input range that will be interpreted as zero around the stick centered value
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RD_MAN_YAW_SCALE>) _param_rd_man_yaw_scale,
(ParamFloat<px4::params::RD_MAX_YAW_RATE>) _param_rd_max_yaw_rate,