This limits the change in desired turn rate to reduce impossible requests which should help avoid overshoot
Also add rotation rate limit to turn-rate controller
Throttle controller has these advantages over existing controller:
based on velocity in vehicle's forward-back axis rather than ground-speed
straight-forward PID controller using speed error as input
speed control acceleration limts
stop control slows vehicle smoothly
configurable filtering
Steer controller has these advantages over existing controller:
output scaled properly for skid-steering vehicles
layered P and PID controller for angular error and rate control
configurable filtering
Randy Mackay
khancyr
Daniel Widmann