Fix lowpass & refactor filter structure

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Apache License 2.0

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Fix lowpass & refactor filter structure #119

Closed Rayman closed 2 years ago

Rayman commented 2 years ago

Fixed second order lowpass
Made the crossover frequency and damping tuneble
Use the filtered signal for PID calculations
Add a derivative filter

How the lowpass filter was derived: https://github.com/nobleo/path_tracking_pid/blob/fix/lowpass/doc/second_order_lowpass_tustin.ipynb

PidDebug output with lowpass crossover frequency at 20, 4 and 1 Hz. lowpass_20hz lowpass_4hz lowpass_1hz

lewie-donckers commented 2 years ago

The amount of comments I made may suggest otherwise, but I really like this change. You added a nice abstraction, cleaned up Controller and added unit tests.

Nice work!