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rover flight modes: Specify speed axis #3530

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merged 3 commits into from
Jan 30, 2025
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rover flight modes: Specify speed axis #3530

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093921e
rover flight modes: Specify speed axis
chfriedrich98 Dec 20, 2024
c932a8c
Apply suggestions from code review
chfriedrich98 Jan 29, 2025
e344f0a
replace longitudinal with forwards/backwards speed
chfriedrich98 Jan 29, 2025
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4 changes: 2 additions & 2 deletions en/flight_modes_rover/ackermann.md
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Expand Up @@ -18,7 +18,7 @@ Manual modes require stick inputs from the user to drive the vehicle.

The sticks provide the same "high level" control effects over direction and rate of movement in all manual modes:

- `Left stick up/down`: Drive the rover forwards/backwards (controlling forward speed)
- `Left stick up/down`: Drive the rover forwards/backwards (controlling speed)
- `Right stick left/right`: Make a left/right turn (controlling steering angle ([Manual mode](#manual-mode)) or lateral acceleration ([Acro](#acro-mode) and [Position](#position-mode))).

The manual modes provide progressively increasing levels of autopilot support for maintaining a course, speed, and rate of turn, compensating for external factors such as slopes or uneven terrain.
Expand All @@ -31,7 +31,7 @@ The manual modes provide progressively increasing levels of autopilot support fo

::: details Overview mode mapping to control effect

| Mode | Forward speed | Steering angle/lateral acceleration | Required measurements |
| Mode | Forward/backwards speed | Steering angle/lateral acceleration | Required measurements |
| -------------------------- | ------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------- |
| [Manual](#manual-mode) | Directly map stick input to motor command. | Directly map stick input to steering angle. | None. |
| [Acro](#acro-mode) | Directly map stick input to motor command. | Stick input creates a lateral acceleration setpoint for the control system to regulate. | Lateral acceleration. |
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4 changes: 2 additions & 2 deletions en/flight_modes_rover/differential.md
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Expand Up @@ -18,7 +18,7 @@ Manual modes require stick inputs from the user to drive the vehicle.

The sticks provide the same "high level" control effects over direction and rate of movement in all manual modes:

- `Left stick up/down`: Drive the rover forwards/backwards (controlling forward speed)
- `Left stick up/down`: Drive the rover forwards/backwards (controlling speed)
- `Right stick left/right`: Rotate the rover to the left/right (controlling yaw rate).

The manual modes provide progressively increasing levels of autopilot support for maintaining a course, speed, and rate of turn, compensating for external factors such as slopes or uneven terrain.
Expand All @@ -32,7 +32,7 @@ The manual modes provide progressively increasing levels of autopilot support fo

::: details Overview mode mapping to control effect

| Mode | Forward speed | Yaw rate | Required measurements |
| Mode | Forwards/backwards speed | Yaw rate | Required measurements |
| ------------------------------ | ------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------- |
| [Manual](#manual-mode) | Directly map stick input to motor commands. | Directly map stick input to motor commands. | None. |
| [Acro](#acro-mode) | Directly map stick input to motor commands. | Stick input creates a yaw rate setpoint for the control system to regulate. | Yaw rate. |
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6 changes: 3 additions & 3 deletions en/flight_modes_rover/mecanum.md
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Expand Up @@ -18,9 +18,9 @@ Manual modes require stick inputs from the user to drive the vehicle.

The sticks provide the same "high level" control effects over direction and rate of movement in all manual modes:

- `Left stick up/down`: Drive the rover forwards/backwards (controlling forward speed)
- `Left stick up/down`: Drive the rover forwards/backwards (controlling speed)
- `Left stick left/right`: Yaw the rover to the left/right (controlling yaw rate).
- `Right stick left/right`: Drive the rover left/right (controlling lateral speed)
- `Right stick left/right`: Drive the rover left/right (controlling speed).

The manual modes provide progressively increasing levels of autopilot support for maintaining a course, speed, and rate of turn, compensating for external factors such as slopes or uneven terrain.

Expand All @@ -33,7 +33,7 @@ The manual modes provide progressively increasing levels of autopilot support fo

::: details Overview mode mapping to control effect

| Mode | Forward/Lateral speed | Yaw rate | Required measurements |
| Mode | Longitudinal/Lateral speed | Yaw rate | Required measurements |
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| ------------------------------ | --------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------- |
| [Manual](#manual-mode) | Directly map stick input to motor commands. | Directly map stick input to motor commands. | None. |
| [Acro](#acro-mode) | Directly map stick input to motor commands. | Stick input creates a yaw rate setpoint for the control system to regulate. | Yaw rate. |
Expand Down