PX4 Sync / Q&A: Aug 28, 2024

farhang · August 26, 2024, 10:17pm

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@slgrobotics Maybe you could also consider add documentation for this in here : Drive Modes (Rover) | PX4 Guide (main)

github.com/PX4/PX4-Autopilot

Implement Stanley Pursuit for rovers

PX4:main ← slgrobotics:stanley_pursuit

opened 08:33PM - 23 Aug 24 UTC

slgrobotics

+678 -19

### Solved Problem PX4 library offers L1 and Pure Pursuit library modules, whic…h can be used for vehicles. Another common trajectory following logic is Stanley Pursuit, which is currently missing from the library. It is briefly described here: https://dingyan89.medium.com/three-methods-of-vehicle-lateral-control-pure-pursuit-stanley-and-mpc-db8cc1d32081 ### Solution This PR adds a basic implementation of Stanley Pursuit ### Changelog Entry For release notes: ``` New parameters: ST_XTRACK_GAIN, ST_SOFTENING ``` ### Test coverage - Unit tests included in the PR ### Note In my experience so far, Stanley Pursuit is the best fit for my gas-driven zero-turn lawnmower, compared to L1 and Pure Pursuit, which I also tried. When close line following is a priority, Stanley algorithm provides minimal oscillations and directly targets to minimize cross-track distance.

Merged!