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mecanum: separate velocity control
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chfriedrich98
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chfriedrich98
chfriedrich98
parent
3c39095271
commit
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@@ -0,0 +1,40 @@
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############################################################################
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#
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# Copyright (c) 2025 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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||||
#
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||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
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||||
# 2. Redistributions in binary form must reproduce the above copyright
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||||
# notice, this list of conditions and the following disclaimer in
|
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# the documentation and/or other materials provided with the
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||||
# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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||||
#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(MecanumVelControl
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MecanumVelControl.cpp
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)
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target_link_libraries(MecanumVelControl PUBLIC PID)
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target_link_libraries(MecanumVelControl PUBLIC pure_pursuit)
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target_include_directories(MecanumVelControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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@@ -0,0 +1,249 @@
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/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
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||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
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||||
*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "MecanumVelControl.hpp"
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using namespace time_literals;
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MecanumVelControl::MecanumVelControl(ModuleParams *parent) : ModuleParams(parent)
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{
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_rover_throttle_setpoint_pub.advertise();
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_rover_attitude_setpoint_pub.advertise();
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_mecanum_velocity_setpoint_pub.advertise();
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_rover_velocity_status_pub.advertise();
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updateParams();
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}
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void MecanumVelControl::updateParams()
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{
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ModuleParams::updateParams();
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_pid_speed_x.setGains(_param_ro_speed_p.get(), _param_ro_speed_i.get(), 0.f);
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_pid_speed_x.setIntegralLimit(1.f);
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_pid_speed_x.setOutputLimit(1.f);
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_pid_speed_y.setGains(_param_ro_speed_p.get(), _param_ro_speed_i.get(), 0.f);
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_pid_speed_y.setIntegralLimit(1.f);
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_pid_speed_y.setOutputLimit(1.f);
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if (_param_ro_accel_limit.get() > FLT_EPSILON) {
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_speed_x_setpoint.setSlewRate(_param_ro_accel_limit.get());
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_speed_y_setpoint.setSlewRate(_param_ro_accel_limit.get());
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}
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}
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void MecanumVelControl::updateVelControl()
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{
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const hrt_abstime timestamp_prev = _timestamp;
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_timestamp = hrt_absolute_time();
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_dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
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updateSubscriptions();
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if ((_vehicle_control_mode.flag_control_velocity_enabled) && _vehicle_control_mode.flag_armed && runSanityChecks()) {
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if (_vehicle_control_mode.flag_control_offboard_enabled) { // Offboard Velocity Control
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generateVelocitySetpoint();
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}
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generateAttitudeAndThrottleSetpoint();
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} else { // Reset controller and slew rate when velocity control is not active
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_pid_speed_x.resetIntegral();
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_speed_x_setpoint.setForcedValue(0.f);
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_pid_speed_y.resetIntegral();
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_speed_y_setpoint.setForcedValue(0.f);
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}
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// Publish position controller status (logging only)
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rover_velocity_status_s rover_velocity_status;
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rover_velocity_status.timestamp = _timestamp;
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rover_velocity_status.measured_speed_body_x = _vehicle_speed_body_x;
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rover_velocity_status.adjusted_speed_body_x_setpoint = _speed_x_setpoint.getState();
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rover_velocity_status.measured_speed_body_y = _vehicle_speed_body_y;
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rover_velocity_status.adjusted_speed_body_y_setpoint = _speed_y_setpoint.getState();
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rover_velocity_status.pid_throttle_body_x_integral = _pid_speed_x.getIntegral();
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rover_velocity_status.pid_throttle_body_y_integral = _pid_speed_y.getIntegral();
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_rover_velocity_status_pub.publish(rover_velocity_status);
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}
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void MecanumVelControl::updateSubscriptions()
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{
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if (_vehicle_control_mode_sub.updated()) {
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_vehicle_control_mode_sub.copy(&_vehicle_control_mode);
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}
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if (_vehicle_attitude_sub.updated()) {
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vehicle_attitude_s vehicle_attitude{};
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_vehicle_attitude_sub.copy(&vehicle_attitude);
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_vehicle_attitude_quaternion = matrix::Quatf(vehicle_attitude.q);
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_vehicle_yaw = matrix::Eulerf(_vehicle_attitude_quaternion).psi();
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}
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if (_vehicle_local_position_sub.updated()) {
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vehicle_local_position_s vehicle_local_position{};
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_vehicle_local_position_sub.copy(&vehicle_local_position);
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const Vector3f velocity_in_local_frame(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
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const Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame);
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_vehicle_speed_body_x = fabsf(velocity_in_body_frame(0)) > _param_ro_speed_th.get() ? velocity_in_body_frame(0) : 0.f;
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_vehicle_speed_body_y = fabsf(velocity_in_body_frame(1)) > _param_ro_speed_th.get() ? velocity_in_body_frame(1) : 0.f;
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}
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}
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void MecanumVelControl::generateVelocitySetpoint()
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{
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trajectory_setpoint_s trajectory_setpoint{};
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_trajectory_setpoint_sub.copy(&trajectory_setpoint);
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if (_offboard_control_mode_sub.updated()) {
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_offboard_control_mode_sub.copy(&_offboard_control_mode);
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}
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const bool offboard_vel_control = _offboard_control_mode.velocity && !_offboard_control_mode.position;
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const Vector2f velocity_in_local_frame(trajectory_setpoint.velocity[0], trajectory_setpoint.velocity[1]);
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if (offboard_vel_control && velocity_in_local_frame.isAllFinite()) {
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mecanum_velocity_setpoint_s mecanum_velocity_setpoint{};
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mecanum_velocity_setpoint.timestamp = _timestamp;
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mecanum_velocity_setpoint.speed = velocity_in_local_frame.norm();
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mecanum_velocity_setpoint.bearing = atan2f(velocity_in_local_frame(1), velocity_in_local_frame(0));
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mecanum_velocity_setpoint.yaw = _vehicle_yaw;
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_mecanum_velocity_setpoint_pub.publish(mecanum_velocity_setpoint);
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}
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}
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void MecanumVelControl::generateAttitudeAndThrottleSetpoint()
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{
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if (_mecanum_velocity_setpoint_sub.updated()) {
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_mecanum_velocity_setpoint_sub.copy(&_mecanum_velocity_setpoint);
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}
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// Attitude Setpoint
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if (PX4_ISFINITE(_mecanum_velocity_setpoint.yaw)) {
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rover_attitude_setpoint_s rover_attitude_setpoint{};
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rover_attitude_setpoint.timestamp = _timestamp;
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rover_attitude_setpoint.yaw_setpoint = _mecanum_velocity_setpoint.yaw;
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_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
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_last_attitude_setpoint_update = _timestamp;
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} else {
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rover_attitude_setpoint_s rover_attitude_setpoint{};
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rover_attitude_setpoint.timestamp = _timestamp;
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rover_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
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_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
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_last_attitude_setpoint_update = _timestamp;
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}
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// Throttle Setpoint
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float speed_body_x_setpoint{0.f};
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float speed_body_y_setpoint{0.f};
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if (fabsf(_mecanum_velocity_setpoint.speed) > FLT_EPSILON) {
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const Vector3f velocity_in_local_frame(_mecanum_velocity_setpoint.speed * cosf(
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_mecanum_velocity_setpoint.bearing),
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_mecanum_velocity_setpoint.speed * sinf(_mecanum_velocity_setpoint.bearing), 0.f);
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const Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame);
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speed_body_x_setpoint = velocity_in_body_frame(0);
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speed_body_y_setpoint = velocity_in_body_frame(1);
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}
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if (_param_ro_max_thr_speed.get() > FLT_EPSILON) { // Adjust speed setpoints if infeasible
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if (_rover_steering_setpoint_sub.updated()) {
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_rover_steering_setpoint_sub.copy(&_rover_steering_setpoint);
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}
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float speed_body_x_setpoint_normalized = math::interpolate<float>(speed_body_x_setpoint,
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-_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get(), -1.f, 1.f);
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float speed_body_y_setpoint_normalized = math::interpolate<float>(speed_body_y_setpoint,
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-_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get(), -1.f, 1.f);
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const float total_speed = fabsf(speed_body_x_setpoint_normalized) + fabsf(speed_body_y_setpoint_normalized) + fabsf(
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_rover_steering_setpoint.normalized_speed_diff);
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if (total_speed > 1.f) {
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const float theta = atan2f(fabsf(speed_body_y_setpoint_normalized), fabsf(speed_body_x_setpoint_normalized));
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const float magnitude = (1.f - fabsf(_rover_steering_setpoint.normalized_speed_diff)) / (sinf(theta) + cosf(theta));
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const float normalization = 1.f / (sqrtf(powf(speed_body_x_setpoint_normalized,
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2.f) + powf(speed_body_y_setpoint_normalized, 2.f)));
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speed_body_x_setpoint_normalized *= magnitude * normalization;
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speed_body_y_setpoint_normalized *= magnitude * normalization;
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speed_body_x_setpoint = math::interpolate<float>(speed_body_x_setpoint_normalized, -1.f, 1.f,
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-_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get());
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speed_body_y_setpoint = math::interpolate<float>(speed_body_y_setpoint_normalized, -1.f, 1.f,
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-_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get());
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}
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}
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rover_throttle_setpoint_s rover_throttle_setpoint{};
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rover_throttle_setpoint.timestamp = _timestamp;
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speed_body_x_setpoint = fabsf(speed_body_x_setpoint) > _param_ro_speed_th.get() ? speed_body_x_setpoint : 0.f;
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speed_body_y_setpoint = fabsf(speed_body_y_setpoint) > _param_ro_speed_th.get() ? speed_body_y_setpoint : 0.f;
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rover_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_speed_x_setpoint, _pid_speed_x,
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speed_body_x_setpoint, _vehicle_speed_body_x, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
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_param_ro_max_thr_speed.get(), _dt);
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rover_throttle_setpoint.throttle_body_y = RoverControl::speedControl(_speed_y_setpoint, _pid_speed_y,
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speed_body_y_setpoint, _vehicle_speed_body_y, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
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_param_ro_max_thr_speed.get(), _dt);
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_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
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}
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bool MecanumVelControl::runSanityChecks()
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{
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bool ret = true;
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if (_param_ro_speed_limit.get() < FLT_EPSILON) {
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ret = false;
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if (_prev_param_check_passed) {
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events::send<float>(events::ID("mecanum_vel_control_conf_invalid_speed_lim"), events::Log::Error,
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"Invalid configuration of necessary parameter RO_SPEED_LIM", _param_ro_speed_limit.get());
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}
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}
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if (_param_ro_max_thr_speed.get() < FLT_EPSILON && _param_ro_speed_p.get() < FLT_EPSILON) {
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ret = false;
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if (_prev_param_check_passed) {
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events::send<float, float>(events::ID("mecanum_vel_control_conf_invalid_speed_control"), events::Log::Error,
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"Invalid configuration for speed control: Neither feed forward (RO_MAX_THR_SPEED) nor feedback (RO_SPEED_P) is setup",
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_param_ro_max_thr_speed.get(),
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_param_ro_speed_p.get());
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}
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}
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_prev_param_check_passed = ret;
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return ret;
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}
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@@ -0,0 +1,157 @@
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/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
|
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*
|
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
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*
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****************************************************************************/
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#pragma once
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// PX4 includes
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/events.h>
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// Libraries
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#include <lib/rover_control/RoverControl.hpp>
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#include <lib/pid/PID.hpp>
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#include <matrix/matrix/math.hpp>
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#include <lib/slew_rate/SlewRate.hpp>
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#include <math.h>
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// uORB includes
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/rover_steering_setpoint.h>
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#include <uORB/topics/rover_throttle_setpoint.h>
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#include <uORB/topics/rover_velocity_status.h>
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#include <uORB/topics/mecanum_velocity_setpoint.h>
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#include <uORB/topics/rover_attitude_setpoint.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/trajectory_setpoint.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/offboard_control_mode.h>
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#include <uORB/topics/vehicle_local_position.h>
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using namespace matrix;
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/**
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* @brief Class for mecanum velocity control.
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*/
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class MecanumVelControl : public ModuleParams
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{
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public:
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/**
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* @brief Constructor for MecanumVelControl.
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* @param parent The parent ModuleParams object.
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*/
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MecanumVelControl(ModuleParams *parent);
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~MecanumVelControl() = default;
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/**
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* @brief Update velocity controller.
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*/
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void updateVelControl();
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protected:
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/**
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* @brief Update the parameters of the module.
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*/
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void updateParams() override;
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private:
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/**
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* @brief Update uORB subscriptions used in velocity controller.
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*/
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void updateSubscriptions();
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/**
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* @brief Generate and publish roverVelocitySetpoint from velocity of trajectorySetpoint.
|
||||
*/
|
||||
void generateVelocitySetpoint();
|
||||
|
||||
/**
|
||||
* @brief Generate and publish roverAttitudeSetpoint and roverThrottleSetpoint
|
||||
* from roverVelocitySetpoint.
|
||||
*/
|
||||
void generateAttitudeAndThrottleSetpoint();
|
||||
|
||||
/**
|
||||
* @brief Check if the necessary parameters are set.
|
||||
* @return True if all checks pass.
|
||||
*/
|
||||
bool runSanityChecks();
|
||||
|
||||
// uORB subscriptions
|
||||
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
|
||||
uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
|
||||
uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
|
||||
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
|
||||
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
|
||||
uORB::Subscription _mecanum_velocity_setpoint_sub{ORB_ID(mecanum_velocity_setpoint)};
|
||||
uORB::Subscription _rover_attitude_setpoint_sub{ORB_ID(rover_attitude_setpoint)};
|
||||
uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
|
||||
vehicle_control_mode_s _vehicle_control_mode{};
|
||||
offboard_control_mode_s _offboard_control_mode{};
|
||||
rover_steering_setpoint_s _rover_steering_setpoint{};
|
||||
|
||||
// uORB publications
|
||||
uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
|
||||
uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
|
||||
uORB::Publication<rover_velocity_status_s> _rover_velocity_status_pub{ORB_ID(rover_velocity_status)};
|
||||
uORB::Publication<mecanum_velocity_setpoint_s> _mecanum_velocity_setpoint_pub{ORB_ID(mecanum_velocity_setpoint)};
|
||||
mecanum_velocity_setpoint_s _mecanum_velocity_setpoint{};
|
||||
|
||||
// Variables
|
||||
hrt_abstime _timestamp{0};
|
||||
hrt_abstime _last_attitude_setpoint_update{0};
|
||||
Quatf _vehicle_attitude_quaternion{};
|
||||
float _vehicle_speed_body_x{0.f};
|
||||
float _vehicle_speed_body_y{0.f};
|
||||
float _vehicle_yaw{0.f};
|
||||
float _dt{0.f};
|
||||
bool _prev_param_check_passed{false};
|
||||
|
||||
// Controllers
|
||||
PID _pid_speed_x;
|
||||
PID _pid_speed_y;
|
||||
SlewRate<float> _speed_x_setpoint;
|
||||
SlewRate<float> _speed_y_setpoint;
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,
|
||||
(ParamFloat<px4::params::RO_SPEED_P>) _param_ro_speed_p,
|
||||
(ParamFloat<px4::params::RO_SPEED_I>) _param_ro_speed_i,
|
||||
(ParamFloat<px4::params::RO_ACCEL_LIM>) _param_ro_accel_limit,
|
||||
(ParamFloat<px4::params::RO_DECEL_LIM>) _param_ro_decel_limit,
|
||||
(ParamFloat<px4::params::RO_JERK_LIM>) _param_ro_jerk_limit,
|
||||
(ParamFloat<px4::params::RO_SPEED_LIM>) _param_ro_speed_limit,
|
||||
(ParamFloat<px4::params::RO_SPEED_TH>) _param_ro_speed_th
|
||||
|
||||
)
|
||||
};
|
||||
Reference in New Issue
Block a user