STM Yaw Estimate Provider
Single-Track Model (STM) based yaw rate reference provider. Calculates the expected yaw rate for the current speed and steering angle using a bicycle model, providing the target reference that the yaw control supervisor compares against actual yaw rate.
Single-Track Model (STM) based yaw rate reference provider. Calculates the expected yaw rate for the current speed and steering angle using a bicycle model, providing the target reference that the yaw control supervisor compares against actual yaw rate.
Public API
| Function | Description |
|---|---|
calculateExpectedYaw(dt) | Computes the target yaw rate using the Single Track Model (STM) formula, accounting for wheelbase and characteristic speed. |
registerCMU(cmu) | Links to the CMU. |
module.setDebugMode(debugEnabled) | Sets the debug mode. |
module.shutdown() | Shuts down the module and cleans up resources. |
module.setParameters(parameters) | Sets the parameters. |
module.setConfig(configTable) | Sets the config. |
module.getConfig() | Returns the config. |
Hooks
| Hook | Description |
|---|---|
initSecondStage(jbeamData) | Registers itself with the yawControl supervisor. |
module.initLastStage(jbeamData) | Final-stage initialization after all controllers and powertrains are ready. |
module.reset() | Resets the controller to its initial state. |
module.updateGFX(dt) | Per-frame update for visual state and UI synchronization. |
See Also
- Yaw Control — Parent yaw supervisor
Virtual Speed Slip Provider
Calculates virtual wheel slip values based on speed differences between driven and non-driven wheels. Provides slip ratio data to the traction control supervisor for intervention decisions.
Analog Odometer
Controls a mechanical-style analog odometer display that accumulates distance traveled. Animates digit wheels with realistic rollover behavior and persists the total distance across vehicle resets.