Rover holonomic #2388
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Rover holonomic #2388
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This way, it will not explicitly rely on COMMAND_THRUST or COMMAND_THROTTLE or any variant
kirkscheper
previously approved these changes
Feb 7, 2019
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| #include "std.h" | ||
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| #define SPEED_NEUTRAL 500 |
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Some of these defines, variables and structs are only used in the associated source file and not needed by other source files, can you move them to the source file for clarity?
| uart_put_buffer(dev, 0, raw_message.bytes, 9); | ||
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| void actuators_ostrich_event() {} |
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If the event is not used I would suggest removing it.
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it was to receive encoders values, but not done yet, I removed it for now
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| // helper macro to set AP throttle value | ||
| #define SetAPThrottleFromCommands(_cmd_x, _cmd_y) { \ | ||
| autopilot.throttle = sqrtf((_cmd_x * _cmd_x) + (_cmd_y * _cmd_y)) / 1.4142f; /* sqrt(2) */ \ |
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You could also put the / 2 inside the sqrtf if that makes it more clear (and more decimal places).
noether
pushed a commit
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Jun 7, 2019
* [autopilot] add a throttle command that will be used to report on GCS This way, it will not explicitly rely on COMMAND_THRUST or COMMAND_THROTTLE or any variant * [rover] add holonomic guidance for rovers
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Add basic support for holonomic rovers.
In addition, a
throttlefield have been added to the general autopilot structure that is used to report the global throttle level to the GCS strip. This way, the relevant message in each firmware doesn't need to know explicitly the name of the command (sometimesCOMMAND_THRUSTorCOMMAND_THROTTLEor more complex in case of holonomic rover)