guidance_rover_steering module

Steering guidance for rover.

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="guidance_rover_steering"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• rover_guidance_steering_init()

Files

Header Files

The following headers are automatically included in modules.h

• rover_guidance_steering.h

Source Files

• /guidance/rover_guidance_steering.c

Raw guidance_rover_steering.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="guidance_rover_steering" dir="guidance" task="control">
  <doc>
    <description>
      Steering guidance for rover.
    </description>
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    -->
  </doc>
 
  <settings name="SR Guidance">
    <dl_settings>
      <dl_settings NAME="SR Guidance">
        <dl_settings NAME="Steering control">
          <!--TODO: Set MIN_DELTA/MAX_DELTA config limits-->
          <dl_setting MAX="15.0" MIN="-15.0" STEP="0.1" VAR="guidance_control.cmd.delta" shortname="sr_delta" param="SR_GUIDANCE_DELTA"/>
        </dl_settings>
        <dl_settings NAME="Speed control">
          <dl_setting MAX="10.0" MIN="-10.0" STEP="0.1" VAR="guidance_control.cmd.speed" shortname="sr_speed" param="SR_GUIDANCE_SPEED"/>
          <dl_setting MAX="2000.0" MIN="0.0" STEP="1" VAR="guidance_control.kf" shortname="kf"/>
          <dl_setting MAX="1000.0" MIN="0.0" STEP="1" VAR="guidance_control.kp" shortname="kp"/>
          <dl_setting MAX="1000.0" MIN="0.0" STEP="1" VAR="guidance_control.ki" shortname="ki"/>
        </dl_settings>
      </dl_settings>
    </dl_settings>
  </settings>
  
    <dep>
    <depends>@navigation</depends>
    <provides>guidance,commands</provides>
  </dep>
  
  <header>
    <file name="rover_guidance_steering.h"/>
  </header>
 
  <init fun="rover_guidance_steering_init()"/>
  <makefile target="ap|nps" firmware="rover">
    <file name="rover_guidance_steering.c" dir="$(SRC_FIRMWARE)/guidance"/>
  </makefile>
  
</module>