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@kwehage kwehage released this 05 Jan 23:03
· 55 commits to master since this release
v0.13.0
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Learn about vigilant mode.

Add support for interpolation of CSP commands:

  • Updates command set point based on feed forward "velocity offset" term:
  • During initial execution of command, account for latency between when command was issued from calling module and when command is processed in fastcat
  • In Process Loop, update target position using same logic as used in initial execution of command
  • Augments CSP command to add request_time, which would be filled out by calling module
  • Reject new CSP commands if request_time is stale (request time was more than 5 fastcat loop periods ago). A stale request can happen if calling module does not properly fill out request_time field or if the two modules do not have synchronized clocks.
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