Differential Drive: Added parameter & logic to set the minium turning…

[PerFrivik]

… speed in the turning state

Solved Problem

The problem seen in #22819 originates from the fact that in the turn state, the rover will linearly scale the angular velocity required to turn towards the current waypoint, with the error of heading and waypoint. As the error grows smaller, the angular velocity setpoint also decreases, and for very small errors, it might seem like it is not moving at all.

Fixes #22819

Solution

To fix this I introduced a parameter, where the user can decide what the minimum angular velocity in the turn state should be. The default value is set to 0.5 for now.

Alternatives

Open to any suggestions.

Test coverage

• Simulation

[PerFrivik]

@slgrobotics I created a draft for now. This will probably still change architecturally.

[slgrobotics]

Tested it:

mkdir src000
cd src000
git clone https://github.com/PX4/PX4-Autopilot.git --single-branch --recursive -b per-pr_differential_drive_min_turn_speed
cd PX4-Autopilot/
make px4_sitl gz_r1_rover

the above kinda works, but the R1 rover moves in a very strange back-and-forth fashion and very slowly

make px4_sitl gz_lawnmower

this works very well, the mower rushes through the mission like a wild boar.

I used the same mission as I posted in #22819 - with legs around 50 meters.

[PerFrivik]

@slgrobotics thanks for the update! Happy that the lawn_mower works 😄. I'll check what is wrong with the r1.

[PerFrivik]

Rebased on main

[chfriedrich98]

These changes were superseded by #23430.