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main ... 45a888664b

Author SHA1 Message Date
robin 45a888664b Merge main: snap wheel command to target on landing after airborne 
Brings in the airborne-landing fix from main. The previously
committed ARM binary was built against the pre-fix source, so it's
dropped again here rather than carried forward stale — same
build-on-target convention as before: run_4wd.sh will compile a
fresh aarch64 binary on next launch on the Jetson. Build and commit
that binary back to this branch afterward.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
 2026-08-13 13:22:54 +09:00
robin bb5a205df1 Fix curve-steering wheel-reversal at partial throttle 
Steering angular velocity (omega) was scaled by the constant max
speed (max_v) instead of the actual current forward speed (v_x).
This decoupled turn tightness from throttle position: at low/medium
throttle, a moderate left-stick steering input already produced an
omega large enough to flip the inner wheel's commanded velocity
negative, causing the robot to spin/reverse/lurch forward instead of
smoothly curving. Scaling by abs(v_x) keeps turn radius proportional
to speed as intended, matching prior full-throttle behavior while
fixing the reversal at partial throttle.

Also commits the ARM binary rebuilt on-device with this fix, per the
build-on-target convention for this branch.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
 2026-08-13 10:54:52 +09:00
robin f2b0968979 jetson-arm: drop x86 build artifact, build fresh on target 
The committed xbox_motor_control_cpp binary is x86-64 and won't run
on Jetson's aarch64. run_4wd.sh only rebuilds when the binary is
missing, so removing it here lets the first run on the Jetson
compile a native ARM binary via `make`. Commit that binary back to
this branch after building on-device to keep an ARM build tracked
here, same as main tracks the x86 one.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
 2026-08-13 10:15:23 +09:00
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