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rover: publish actuator controls with rate of gyro

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Some ESC's with DShot don't initialize otherwise (as the 200Hz of the vehicle attitude rate is too low).
This commit is contained in:
benjinne
2021-04-26 08:53:20 +02:00
committed by GitHub
parent cc81c7d49e
commit 3664d9e4ce
2 changed files with 19 additions and 5 deletions
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src/modules/rover_pos_control/RoverPositionControl.cpp
+16 -4
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@@ -72,8 +72,8 @@ RoverPositionControl::~RoverPositionControl()
bool
RoverPositionControl::init()
{
if (!_vehicle_attitude_sub.registerCallback()) {
PX4_ERR("vehicle attitude callback registration failed!");
if (!_vehicle_angular_velocity_sub.registerCallback()) {
PX4_ERR("vehicle angular velocity callback registration failed!");
return false;
}
@@ -187,6 +187,14 @@ RoverPositionControl::attitude_setpoint_poll()
}
}
void
RoverPositionControl::vehicle_attitude_poll()
{
if (_att_sub.updated()) {
_att_sub.copy(&_vehicle_att);
}
}
bool
RoverPositionControl::control_position(const matrix::Vector2d &current_position,
const matrix::Vector3f &ground_speed, const position_setpoint_triplet_s &pos_sp_triplet)
@@ -385,11 +393,15 @@ RoverPositionControl::Run()
{
parameters_update(true);
if (_vehicle_attitude_sub.update(&_vehicle_att)) {
/* run controller on gyro changes */
vehicle_angular_velocity_s angular_velocity;
if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {
/* check vehicle control mode for changes to publication state */
vehicle_control_mode_poll();
attitude_setpoint_poll();
vehicle_attitude_poll();
manual_control_setpoint_poll();
_vehicle_acceleration_sub.update();
@@ -527,7 +539,7 @@ int RoverPositionControl::print_usage(const char *reason)
### Description
Controls the position of a ground rover using an L1 controller.
Publishes `actuator_controls_0` messages at a constant 250Hz.
Publishes `actuator_controls_0` messages at IMU_GYRO_RATEMAX.
### Implementation
Currently, this implementation supports only a few modes: