Rover: Rewrote gnd_pos_control and removed gnd_att_control (#12239)

2026-10-23 03:43:33 +08:00 · 2019-07-11 09:39:13 -04:00
parent 3743e6d8fb
commit 2ed00c9cb6
55 changed files with 297 additions and 1068 deletions
@@ -0,0 +1,216 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ *
+ * This module is a modification of the fixed wing module and it is designed for ground rovers.
+ * It has been developed starting from the fw module, simplified and improved with dedicated items.
+ *
+ * All the ackowledgments and credits for the fw wing app are reported in those files.
+ *
+ * @author Marco Zorzi <mzorzi@student.ethz.ch>
+ */
+
+#include <float.h>
+
+#include <drivers/drv_hrt.h>
+#include <lib/ecl/geo/geo.h>
+#include <lib/ecl/l1/ecl_l1_pos_controller.h>
+#include <lib/mathlib/mathlib.h>
+#include <lib/perf/perf_counter.h>
+#include <lib/pid/pid.h>
+#include <px4_config.h>
+#include <px4_defines.h>
+#include <px4_posix.h>
+#include <px4_tasks.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/position_controller_status.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/sensor_bias.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/ekf2_timestamps.h>
+#include <uORB/uORB.h>
+
+using matrix::Dcmf;
+
+using uORB::SubscriptionData;
+
+class RoverPositionControl
+{
+public:
+	RoverPositionControl();
+	~RoverPositionControl();
+	RoverPositionControl(const RoverPositionControl &) = delete;
+	RoverPositionControl operator=(const RoverPositionControl &other) = delete;
+
+	/**
+	 * Start the sensors task.
+	 *
+	 * @return	OK on success.
+	 */
+	static int	start();
+
+	/**
+	 * Task status
+	 *
+	 * @return	true if the mainloop is running
+	 */
+	bool		task_running() { return _task_running; }
+
+private:
+	orb_advert_t	_pos_ctrl_status_pub{nullptr};		/**< navigation capabilities publication */
+	orb_advert_t    _actuator_controls_pub{nullptr};	/**< actuator controls publication */
+
+	bool		_task_should_exit{false};		/**< if true, sensor task should exit */
+	bool		_task_running{false};			/**< if true, task is running in its mainloop */
+
+	int		_control_mode_sub{-1};		/**< control mode subscription */
+	int		_global_pos_sub{-1};
+	int		_manual_control_sub{-1};		/**< notification of manual control updates */
+	int		_params_sub{-1};			/**< notification of parameter updates */
+	int		_pos_sp_triplet_sub{-1};
+	int     _vehicle_attitude_sub{-1};
+
+	manual_control_setpoint_s		_manual{};			    /**< r/c channel data */
+	position_setpoint_triplet_s		_pos_sp_triplet{};		/**< triplet of mission items */
+	vehicle_control_mode_s			_control_mode{};		/**< control mode */
+	vehicle_global_position_s		_global_pos{};			/**< global vehicle position */
+	actuator_controls_s			    _act_controls{};		/**< direct control of actuators */
+	vehicle_attitude_s              _vehicle_att{};
+
+	SubscriptionData<sensor_bias_s>	_sub_sensors;
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	hrt_abstime _control_position_last_called{0}; 	/**<last call of control_position  */
+
+	/* Pid controller for the speed. Here we assume we can control airspeed but the control variable is actually on
+	 the throttle. For now just assuming a proportional scaler between controlled airspeed and throttle output.*/
+	PID_t _speed_ctrl{};
+
+	// estimator reset counters
+	uint8_t _pos_reset_counter{0};		// captures the number of times the estimator has reset the horizontal position
+
+	ECL_L1_Pos_Controller				_gnd_control;
+
+	bool _waypoint_reached;
+
+	enum UGV_POSCTRL_MODE {
+		UGV_POSCTRL_MODE_AUTO,
+		UGV_POSCTRL_MODE_OTHER
+	} _control_mode_current{UGV_POSCTRL_MODE_OTHER};			///< used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.
+
+	struct {
+		float l1_period;
+		float l1_damping;
+		float l1_distance;
+
+		float gndspeed_trim;
+		float gndspeed_max;
+
+		int32_t speed_control_mode;
+		float speed_p;
+		float speed_i;
+		float speed_d;
+		float speed_imax;
+		float throttle_speed_scaler;
+
+		float throttle_min;
+		float throttle_max;
+		float throttle_cruise;
+		float throttle_slew_max;
+
+		float wheel_base;
+		float max_turn_angle;
+
+	} _parameters{};			/**< local copies of interesting parameters */
+
+	struct {
+		param_t l1_period;
+		param_t l1_damping;
+		param_t l1_distance;
+
+		param_t gndspeed_trim;
+		param_t gndspeed_max;
+
+		param_t speed_control_mode;
+
+		param_t speed_p;
+		param_t speed_i;
+		param_t speed_d;
+		param_t speed_imax;
+		param_t throttle_speed_scaler;
+
+		param_t throttle_min;
+		param_t throttle_max;
+		param_t throttle_cruise;
+		param_t throttle_slew_max;
+
+		param_t wheel_base;
+		param_t max_turn_angle;
+	} _parameter_handles{};		/**< handles for interesting parameters */
+
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int		parameters_update();
+
+	void		manual_control_setpoint_poll();
+	void		position_setpoint_triplet_poll();
+	void		vehicle_control_mode_poll();
+	void 		vehicle_attitude_poll();
+
+	/**
+	 * Control position.
+	 */
+	bool		control_position(const matrix::Vector2f &global_pos, const matrix::Vector3f &ground_speed,
+					 const position_setpoint_triplet_s &_pos_sp_triplet);
+
+	/**
+	 * Shim for calling task_main from task_create.
+	 */
+	static int	task_main_trampoline(int argc, char *argv[]);
+
+	/**
+	 * Main sensor collection task.
+	 */
+	void		task_main();
+
+};