TestAutopilot Properties
A simple controller with predefined behaviors, used for debugging. In circle mode the autopilot drives at the given speed and given steering angle.
In start_stop mode it accelerates to the specified target velocity then fully brakes. (Also uses the specified steering angle.)
| Entry | Unit | Type | Description | Default Value |
|---|---|---|---|---|
type |
S | Must be test_autopilot for a TestAutopilot component. Must be the first entry. |
||
mode |
S |
"circle" or "start_stop". |
||
compute_time |
s | Duration | Time to "compute": delay between receiving inputs and sending the outputs. | 0 |
turn_angle |
deg | FP | Wheel angle as defined by the actuator PhysicalValue (steering) |
10 deg |
target_velocity |
km/h | FP | Target velocity for the vehicle. | 50 km/h |
JavaAutopilot Properties
A crude (un-precise) autopilot following the trajectory provided by the Navigation component.
| Entry | Unit | Type | Description | Default Value |
|---|---|---|---|---|
type |
S | Must be java_autopilot for a JavaAutopilot component. Must be the first entry. |
||
compute_time |
s | Duration | Time to "compute": delay between receiving inputs and sending the outputs. | 0 |
maxVehicleAccel |
FP | Temporary but required for now. In the future this should be handled internally. | 7.460690450979396 |
Examples
TestAutopilot
{
"type": "test_autopilot",
"name": "TestAutopilot",
"mode": "circle",
"compute_time": [0,1000000],
"turn_angle": 10.7,
"target_velocity": 30.5
}JavaAutopilot
{
"type": "java_autopilot",
"name": "JavaAutopilot",
"maxVehicleAccel": 7.460690450979396
}Next: Computer Properties