Abstract: This paper investigates advanced torque allocation strategies for multi-motor electric vehicles (EVs) to improve energy efficiency while maintaining longitudinal dynamics and comfort. A ...
fighting the wobble-induced gyro Z contamination rather than holding steady. On hardware, the actual P gain will be tuned from measured k_bearing. """Wobble with P=0.05 — motor visibly pulses at ...
1. Acquire the ``torque_armed_profile`` fixture (ACRO-armed, profile running) Collect ATTITUDE samples from ArduPilot SITL for the full test duration. Keeps the motor interlock (CH8=2000) alive every ...
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