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Added offset in VI Control Loop, fixed gps-imu param name #19

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merged 1 commit into from
Sep 11, 2020
Merged

Added offset in VI Control Loop, fixed gps-imu param name #19

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3 changes: 1 addition & 2 deletions src/vehicle_interface/sd_vehicle_interface/src/sd_vehicle_interface/sd_control.h
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Original file line number Diff line number Diff line change
Expand Up @@ -71,8 +71,7 @@ namespace speedcontroller{


//Other control calibratables
#define BRAKE_HOLD_TORQUE_TWIZY (-10) //Initial torque needed to get the vehicle moving

#define BRAKE_HOLD_TORQUE_TWIZY (-10) //Torque needed to hold the vehicle still
//*****
//*****ENV200 CALIBRATIONS
//Gains for increasing speed
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4 changes: 2 additions & 2 deletions src/vehicle_interface/sd_vehicle_interface/src/sd_vehicle_interface/sd_vehicle_interface.cpp
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Expand Up @@ -91,7 +91,7 @@ int main(int argc, char **argv)
ros::NodeHandle private_nh("~");

private_nh.param<string>("sd_vehicle", _sd_vehicle, "env200");
private_nh.param<string>("sd_gps_imu", _sd_speed_source, "oxts");
private_nh.param<string>("sd_gps_imu", _sd_gps_imu, "oxts");
private_nh.param<string>("sd_speed_source", _sd_speed_source, "vehicle_can");
private_nh.param<bool>("sd_simulation_mode", _sd_simulation_mode, false);

Expand Down Expand Up @@ -160,7 +160,7 @@ int main(int argc, char **argv)

if (AutomationGranted_B || _sd_simulation_mode){

if (0 ==(AliveCounter_Z % CONTROL_LOOP)){ //We only run as per calibrated frequency
if (0 ==(AliveCounter_Z - 5 % CONTROL_LOOP)){ //We only run as per calibrated frequency, less an offset to prevent torque/steer immedietaly being applied on entry to autonomous mode.

//Calculate Steer and torque values, as well as controll feedback (PID and FeedForward Contributions to Torque Controller)
FinalDBWSteerRequest_Pc = speedcontroller::CalculateSteerRequest (TargetTwistAngular_Degps, CurrentTwistLinearSD_Mps_Final);
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