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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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refactor(lib/rover_control): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
@@ -35,6 +35,7 @@ px4_add_library(rover_control
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RoverControl.cpp
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RoverControl.cpp
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RoverControl.hpp
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RoverControl.hpp
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)
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)
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/rovercontrol_params.yaml)
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target_link_libraries(rover_control PUBLIC PID)
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target_link_libraries(rover_control PUBLIC PID)
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target_link_libraries(rover_control PUBLIC geo)
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target_link_libraries(rover_control PUBLIC geo)
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@@ -1,320 +0,0 @@
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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
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* 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
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* 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,
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* 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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/**
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* @file rovercontrol_params.c
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*
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* Parameters defined by the rover control lib.
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*/
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/**
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* Yaw stick deadzone
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*
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* Percentage of stick input range that will be interpreted as zero around the stick centered value.
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*
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* @min 0
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* @max 1
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* @increment 0.01
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* @decimal 2
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* @group Rover Rate Control
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*/
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PARAM_DEFINE_FLOAT(RO_YAW_STICK_DZ, 0.1f);
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/**
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* Yaw rate expo factor
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*
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* Exponential factor for tuning the input curve shape.
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*
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* 0 Purely linear input curve
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* 1 Purely cubic input curve
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*
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* @min 0
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* @max 1
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* @decimal 2
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* @group Rover Rate Control
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*/
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PARAM_DEFINE_FLOAT(RO_YAW_EXPO, 0.f);
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/**
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* Yaw rate super expo factor
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*
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* "Superexponential" factor for refining the input curve shape tuned using RO_YAW_EXPO.
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*
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* 0 Pure Expo function
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* 0.7 reasonable shape enhancement for intuitive stick feel
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* 0.95 very strong bent input curve only near maxima have effect
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*
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* @min 0
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* @max 0.95
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* @decimal 2
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* @group Rover Rate Control
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*/
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PARAM_DEFINE_FLOAT(RO_YAW_SUPEXPO, 0.f);
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/**
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* Yaw rate measurement threshold
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*
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* The minimum threshold for the yaw rate measurement not to be interpreted as zero.
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*
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* @unit deg/s
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* @min 0
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* @max 100
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* @increment 0.01
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* @decimal 2
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* @group Rover Rate Control
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*/
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PARAM_DEFINE_FLOAT(RO_YAW_RATE_TH, 3.f);
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/**
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* Proportional gain for closed loop yaw rate controller
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*
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* @min 0
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* @max 100
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* @increment 0.01
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* @decimal 3
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* @group Rover Rate Control
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*/
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PARAM_DEFINE_FLOAT(RO_YAW_RATE_P, 0.f);
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/**
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* Integral gain for closed loop yaw rate controller
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*
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* @min 0
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* @max 100
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* @increment 0.01
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* @decimal 3
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* @group Rover Rate Control
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*/
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PARAM_DEFINE_FLOAT(RO_YAW_RATE_I, 0.f);
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/**
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* Yaw rate limit
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*
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* Used to cap yaw rate setpoints and map controller inputs to yaw rate setpoints
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* in Acro, Stabilized and Position mode.
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*
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* @unit deg/s
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* @min 0
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* @max 10000
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* @increment 0.01
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* @decimal 2
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* @group Rover Rate Control
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*/
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PARAM_DEFINE_FLOAT(RO_YAW_RATE_LIM, 0.f);
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/**
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* Yaw acceleration limit
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*
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* Used to cap how quickly the magnitude of yaw rate setpoints can increase.
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* Set to -1 to disable.
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*
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* @unit deg/s^2
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* @min -1
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* @max 10000
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* @increment 0.01
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* @decimal 2
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* @group Rover Rate Control
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*/
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PARAM_DEFINE_FLOAT(RO_YAW_ACCEL_LIM, -1.f);
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/**
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* Yaw deceleration limit
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*
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* Used to cap how quickly the magnitude of yaw rate setpoints can decrease.
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* Set to -1 to disable.
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*
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* @unit deg/s^2
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* @min -1
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* @max 10000
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* @increment 0.01
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* @decimal 2
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* @group Rover Rate Control
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*/
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PARAM_DEFINE_FLOAT(RO_YAW_DECEL_LIM, -1.f);
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/**
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* Yaw rate correction factor
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*
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* Multiplicative correction factor for the feedforward mapping of the yaw rate controller.
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* Increase this value (x > 1) if the measured yaw rate is lower than the setpoint, decrease (0 < x < 1) otherwise.
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* Note: Tuning this is particularly useful for skid-steered rovers, or rovers with misaligned wheels/steering axes
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* that cause a lot of friction when turning.
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*
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* @min 0.01
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* @max 10000
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* @increment 0.01
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* @decimal 2
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* @group Rover Rate Control
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*/
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PARAM_DEFINE_FLOAT(RO_YAW_RATE_CORR, 1.f);
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/**
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* Proportional gain for closed loop yaw controller
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*
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* @min 0
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* @max 100
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* @increment 0.01
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* @decimal 3
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* @group Rover Attitude Control
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*/
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PARAM_DEFINE_FLOAT(RO_YAW_P, 0.f);
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/**
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* Speed the rover drives at maximum throttle
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*
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* Used to linearly map speeds [m/s] to throttle values [-1. 1].
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*
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* @min 0
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* @max 100
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* @unit m/s
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* @increment 0.01
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* @decimal 2
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* @group Rover Velocity Control
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*/
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PARAM_DEFINE_FLOAT(RO_MAX_THR_SPEED, 0.f);
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/**
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* Proportional gain for ground speed controller
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*
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* @min 0
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* @max 100
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* @increment 0.01
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* @decimal 2
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* @group Rover Velocity Control
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*/
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PARAM_DEFINE_FLOAT(RO_SPEED_P, 0.f);
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/**
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* Integral gain for ground speed controller
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*
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* @min 0
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* @max 100
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* @increment 0.001
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* @decimal 3
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* @group Rover Velocity Control
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*/
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PARAM_DEFINE_FLOAT(RO_SPEED_I, 0.f);
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/**
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* Speed limit
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*
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* Used to cap speed setpoints and map controller inputs to speed setpoints in Position mode.
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*
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* @unit m/s
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* @min -1
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* @max 100
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* @increment 0.01
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* @decimal 2
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* @group Rover Velocity Control
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*/
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PARAM_DEFINE_FLOAT(RO_SPEED_LIM, -1.f);
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/**
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* Acceleration limit
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*
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* Set to -1 to disable.
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* For mecanum rovers this limit is used for longitudinal and lateral acceleration.
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*
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* @unit m/s^2
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* @min -1
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* @max 100
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* @increment 0.01
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* @decimal 2
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* @group Rover Velocity Control
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*/
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PARAM_DEFINE_FLOAT(RO_ACCEL_LIM, -1.f);
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/**
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* Deceleration limit
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*
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* Set to -1 to disable.
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* Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
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* For mecanum rovers this limit is used for longitudinal and lateral deceleration.
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*
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* @unit m/s^2
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* @min -1
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* @max 100
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* @increment 0.01
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* @decimal 2
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* @group Rover Velocity Control
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*/
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PARAM_DEFINE_FLOAT(RO_DECEL_LIM, -1.f);
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/**
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* Jerk limit
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*
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* Set to -1 to disable.
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* Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
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* For mecanum rovers this limit is used for longitudinal and lateral jerk.
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*
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* @unit m/s^3
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* @min -1
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* @max 100
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* @increment 0.01
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* @decimal 2
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* @group Rover Velocity Control
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*/
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PARAM_DEFINE_FLOAT(RO_JERK_LIM, -1.f);
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/**
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* Speed measurement threshold
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*
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* Set to -1 to disable.
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* The minimum threshold for the speed measurement not to be interpreted as zero.
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*
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* @unit m/s
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* @min 0
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* @max 100
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* @increment 0.01
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* @decimal 2
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* @group Rover Velocity Control
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*/
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PARAM_DEFINE_FLOAT(RO_SPEED_TH, 0.1f);
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/**
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|
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* Tuning parameter for the speed reduction based on the course error
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|
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*
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|
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* Reduced_speed = RO_MAX_THR_SPEED * (1 - normalized_course_error * RO_SPEED_RED)
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|
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* The normalized course error is the angle between the current course and the bearing setpoint
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|
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* interpolated from [0, 180] -> [0, 1].
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|
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* Higher value -> More speed reduction.
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|
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* Note: This is also used to calculate the speed at which the vehicle arrives at a waypoint in auto modes.
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|
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* Set to -1 to disable bearing error based speed reduction.
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|
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*
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|
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* @min -1
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|
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* @max 100
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|
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* @increment 0.01
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|
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* @decimal 2
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|
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* @group Rover Velocity Control
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|
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*/
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|
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PARAM_DEFINE_FLOAT(RO_SPEED_RED, -1.f);
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|
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@@ -0,0 +1,249 @@
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|
module_name: rover_control
|
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|
parameters:
|
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|
- group: Rover Attitude Control
|
||||||
|
definitions:
|
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|
RO_YAW_P:
|
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|
description:
|
||||||
|
short: Proportional gain for closed loop yaw controller
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
min: 0
|
||||||
|
max: 100
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 3
|
||||||
|
- group: Rover Rate Control
|
||||||
|
definitions:
|
||||||
|
RO_YAW_STICK_DZ:
|
||||||
|
description:
|
||||||
|
short: Yaw stick deadzone
|
||||||
|
long: Percentage of stick input range that will be interpreted as zero around
|
||||||
|
the stick centered value.
|
||||||
|
type: float
|
||||||
|
default: 0.1
|
||||||
|
min: 0
|
||||||
|
max: 1
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_YAW_EXPO:
|
||||||
|
description:
|
||||||
|
short: Yaw rate expo factor
|
||||||
|
long: |-
|
||||||
|
Exponential factor for tuning the input curve shape.
|
||||||
|
|
||||||
|
0 Purely linear input curve
|
||||||
|
1 Purely cubic input curve
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
min: 0
|
||||||
|
max: 1
|
||||||
|
decimal: 2
|
||||||
|
RO_YAW_SUPEXPO:
|
||||||
|
description:
|
||||||
|
short: Yaw rate super expo factor
|
||||||
|
long: |-
|
||||||
|
"Superexponential" factor for refining the input curve shape tuned using RO_YAW_EXPO.
|
||||||
|
|
||||||
|
0 Pure Expo function
|
||||||
|
0.7 reasonable shape enhancement for intuitive stick feel
|
||||||
|
0.95 very strong bent input curve only near maxima have effect
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
min: 0
|
||||||
|
max: 0.95
|
||||||
|
decimal: 2
|
||||||
|
RO_YAW_RATE_TH:
|
||||||
|
description:
|
||||||
|
short: Yaw rate measurement threshold
|
||||||
|
long: The minimum threshold for the yaw rate measurement not to be interpreted
|
||||||
|
as zero.
|
||||||
|
type: float
|
||||||
|
default: 3.0
|
||||||
|
unit: deg/s
|
||||||
|
min: 0
|
||||||
|
max: 100
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_YAW_RATE_P:
|
||||||
|
description:
|
||||||
|
short: Proportional gain for closed loop yaw rate controller
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
min: 0
|
||||||
|
max: 100
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 3
|
||||||
|
RO_YAW_RATE_I:
|
||||||
|
description:
|
||||||
|
short: Integral gain for closed loop yaw rate controller
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
min: 0
|
||||||
|
max: 100
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 3
|
||||||
|
RO_YAW_RATE_LIM:
|
||||||
|
description:
|
||||||
|
short: Yaw rate limit
|
||||||
|
long: |-
|
||||||
|
Used to cap yaw rate setpoints and map controller inputs to yaw rate setpoints
|
||||||
|
in Acro, Stabilized and Position mode.
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
unit: deg/s
|
||||||
|
min: 0
|
||||||
|
max: 10000
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_YAW_ACCEL_LIM:
|
||||||
|
description:
|
||||||
|
short: Yaw acceleration limit
|
||||||
|
long: |-
|
||||||
|
Used to cap how quickly the magnitude of yaw rate setpoints can increase.
|
||||||
|
Set to -1 to disable.
|
||||||
|
type: float
|
||||||
|
default: -1.0
|
||||||
|
unit: deg/s^2
|
||||||
|
min: -1
|
||||||
|
max: 10000
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_YAW_DECEL_LIM:
|
||||||
|
description:
|
||||||
|
short: Yaw deceleration limit
|
||||||
|
long: |-
|
||||||
|
Used to cap how quickly the magnitude of yaw rate setpoints can decrease.
|
||||||
|
Set to -1 to disable.
|
||||||
|
type: float
|
||||||
|
default: -1.0
|
||||||
|
unit: deg/s^2
|
||||||
|
min: -1
|
||||||
|
max: 10000
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_YAW_RATE_CORR:
|
||||||
|
description:
|
||||||
|
short: Yaw rate correction factor
|
||||||
|
long: |-
|
||||||
|
Multiplicative correction factor for the feedforward mapping of the yaw rate controller.
|
||||||
|
Increase this value (x > 1) if the measured yaw rate is lower than the setpoint, decrease (0 < x < 1) otherwise.
|
||||||
|
Note: Tuning this is particularly useful for skid-steered rovers, or rovers with misaligned wheels/steering axes
|
||||||
|
that cause a lot of friction when turning.
|
||||||
|
type: float
|
||||||
|
default: 1.0
|
||||||
|
min: 0.01
|
||||||
|
max: 10000
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
- group: Rover Velocity Control
|
||||||
|
definitions:
|
||||||
|
RO_MAX_THR_SPEED:
|
||||||
|
description:
|
||||||
|
short: Speed the rover drives at maximum throttle
|
||||||
|
long: Used to linearly map speeds [m/s] to throttle values [-1. 1].
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
min: 0
|
||||||
|
max: 100
|
||||||
|
unit: m/s
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_SPEED_P:
|
||||||
|
description:
|
||||||
|
short: Proportional gain for ground speed controller
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
min: 0
|
||||||
|
max: 100
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_SPEED_I:
|
||||||
|
description:
|
||||||
|
short: Integral gain for ground speed controller
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
min: 0
|
||||||
|
max: 100
|
||||||
|
increment: 0.001
|
||||||
|
decimal: 3
|
||||||
|
RO_SPEED_LIM:
|
||||||
|
description:
|
||||||
|
short: Speed limit
|
||||||
|
long: Used to cap speed setpoints and map controller inputs to speed setpoints
|
||||||
|
in Position mode.
|
||||||
|
type: float
|
||||||
|
default: -1.0
|
||||||
|
unit: m/s
|
||||||
|
min: -1
|
||||||
|
max: 100
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_ACCEL_LIM:
|
||||||
|
description:
|
||||||
|
short: Acceleration limit
|
||||||
|
long: |-
|
||||||
|
Set to -1 to disable.
|
||||||
|
For mecanum rovers this limit is used for longitudinal and lateral acceleration.
|
||||||
|
type: float
|
||||||
|
default: -1.0
|
||||||
|
unit: m/s^2
|
||||||
|
min: -1
|
||||||
|
max: 100
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_DECEL_LIM:
|
||||||
|
description:
|
||||||
|
short: Deceleration limit
|
||||||
|
long: |-
|
||||||
|
Set to -1 to disable.
|
||||||
|
Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
|
||||||
|
For mecanum rovers this limit is used for longitudinal and lateral deceleration.
|
||||||
|
type: float
|
||||||
|
default: -1.0
|
||||||
|
unit: m/s^2
|
||||||
|
min: -1
|
||||||
|
max: 100
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_JERK_LIM:
|
||||||
|
description:
|
||||||
|
short: Jerk limit
|
||||||
|
long: |-
|
||||||
|
Set to -1 to disable.
|
||||||
|
Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
|
||||||
|
For mecanum rovers this limit is used for longitudinal and lateral jerk.
|
||||||
|
type: float
|
||||||
|
default: -1.0
|
||||||
|
unit: m/s^3
|
||||||
|
min: -1
|
||||||
|
max: 100
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_SPEED_TH:
|
||||||
|
description:
|
||||||
|
short: Speed measurement threshold
|
||||||
|
long: |-
|
||||||
|
Set to -1 to disable.
|
||||||
|
The minimum threshold for the speed measurement not to be interpreted as zero.
|
||||||
|
type: float
|
||||||
|
default: 0.1
|
||||||
|
unit: m/s
|
||||||
|
min: 0
|
||||||
|
max: 100
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
|
RO_SPEED_RED:
|
||||||
|
description:
|
||||||
|
short: Tuning parameter for the speed reduction based on the course error
|
||||||
|
long: |-
|
||||||
|
Reduced_speed = RO_MAX_THR_SPEED * (1 - normalized_course_error * RO_SPEED_RED)
|
||||||
|
The normalized course error is the angle between the current course and the bearing setpoint
|
||||||
|
interpolated from [0, 180] -> [0, 1].
|
||||||
|
Higher value -> More speed reduction.
|
||||||
|
Note: This is also used to calculate the speed at which the vehicle arrives at a waypoint in auto modes.
|
||||||
|
Set to -1 to disable bearing error based speed reduction.
|
||||||
|
type: float
|
||||||
|
default: -1.0
|
||||||
|
min: -1
|
||||||
|
max: 100
|
||||||
|
increment: 0.01
|
||||||
|
decimal: 2
|
||||||
Reference in New Issue
Block a user