Differential Rover: PR fixes

src/modules/simulation/gz_bridge/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2022-2023 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

src/modules/simulation/gz_bridge/GZBridge.cpp

@@ -226,7 +226,7 @@ int GZBridge::init()
 		return PX4_ERROR;
 	}
 
-	if (!_mixing_interface_motor.init(_model_name)) {
+	if (!_mixing_interface_wheel.init(_model_name)) {
 		PX4_ERR("failed to init motor output");
 		return PX4_ERROR;
 	}
@@ -729,7 +729,7 @@ void GZBridge::Run()
 
 		_mixing_interface_esc.stop();
 		_mixing_interface_servo.stop();
-		_mixing_interface_motor.stop();
+		_mixing_interface_wheel.stop();
 
 		exit_and_cleanup();
 		return;
@@ -745,7 +745,7 @@ void GZBridge::Run()
 
 		_mixing_interface_esc.updateParams();
 		_mixing_interface_servo.updateParams();
-		_mixing_interface_motor.updateParams();
+		_mixing_interface_wheel.updateParams();
 	}
 
 	ScheduleDelayed(10_ms);
@@ -761,8 +761,8 @@ int GZBridge::print_status()
 	PX4_INFO_RAW("Servo outputs:\n");
 	_mixing_interface_servo.mixingOutput().printStatus();
 
-	PX4_INFO_RAW("Motor outputs:\n");
-	_mixing_interface_motor.mixingOutput().printStatus();
+	PX4_INFO_RAW("Wheel outputs:\n");
+	_mixing_interface_wheel.mixingOutput().printStatus();
 
 	return 0;
 }

src/modules/simulation/gz_bridge/GZBridge.hpp

@@ -132,7 +132,7 @@ private:
 
 	GZMixingInterfaceESC   _mixing_interface_esc{_node, _node_mutex};
 	GZMixingInterfaceServo _mixing_interface_servo{_node, _node_mutex};
-	GZMixingInterfaceWheel _mixing_interface_motor{_node, _node_mutex};
+	GZMixingInterfaceWheel _mixing_interface_wheel{_node, _node_mutex};
 
 	px4::atomic<uint64_t> _world_time_us{0};
 

src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.cpp

@@ -77,8 +77,9 @@ bool GZMixingInterfaceWheel::updateOutputs(bool stop_wheels, uint16_t outputs[MA
 		wheel_velocity_message.mutable_velocity()->Resize(active_output_count, 0);
 
 		for (unsigned i = 0; i < active_output_count; i++) {
-			float output_scaler = 100.0f;
-			float scaled_output = (float)outputs[i] - output_scaler;
+			// Offsetting the output allows for negative values despite unsigned integer to reverse the wheels
+			static constexpr float output_offset = 100.0f;
+			float scaled_output = (float)outputs[i] - output_offset;
 			wheel_velocity_message.set_velocity(i, scaled_output);
 		}
 

src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.hpp

@@ -80,7 +80,7 @@ private:
 	gz::transport::Node &_node;
 	pthread_mutex_t &_node_mutex;
 
-	MixingOutput _mixing_output{"SIM_GZ_MT", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+	MixingOutput _mixing_output{"SIM_GZ_WH", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 
 	gz::transport::Node::Publisher _actuators_pub;
 

src/modules/simulation/gz_bridge/module.yaml

@@ -25,9 +25,9 @@ actuator_output:
         max: { min: 0, max: 1000, default: 1000 }
         failsafe: { min: 0, max: 1000 }
       num_channels: 8
-    - param_prefix: SIM_GZ_MT
-      group_label: 'Motors'
-      channel_label: 'Motors'
+    - param_prefix: SIM_GZ_WH
+      group_label: 'Wheels'
+      channel_label: 'Wheels'
       standard_params:
         disarmed: { min: 0, max: 200, default: 100 }
         min: { min: 0, max: 200, default: 0 }