fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-27 03:00:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Differential Rover: Differential drive module & library

Browse Source
This commit is contained in:
PerFrivik
2023-12-01 11:18:11 +01:00
committed by Per Frivik
parent e3359ea884
commit 3df71d1837
17 changed files with 653 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.cpp
-59
View File
@@ -1,59 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2021 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.
*
****************************************************************************/
#include "ActuatorEffectivenessRoverDifferential.hpp"
#include <ControlAllocation/ControlAllocation.hpp>
using namespace matrix;
bool
ActuatorEffectivenessRoverDifferential::getEffectivenessMatrix(Configuration &configuration,
EffectivenessUpdateReason external_update)
{
if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
return false;
}
configuration.addActuator(ActuatorType::MOTORS, Vector3f{0.f, 0.f, 0.5f}, Vector3f{0.5f, 0.f, 0.f});
configuration.addActuator(ActuatorType::MOTORS, Vector3f{0.f, 0.f, -0.5f}, Vector3f{0.5f, 0.f, 0.f});
_motors_mask = (1u << 0) | (1u << 1);
return true;
}
void ActuatorEffectivenessRoverDifferential::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
}
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.hpp
-53
View File
@@ -1,53 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2021 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.
*
****************************************************************************/
#pragma once
#include "ActuatorEffectiveness.hpp"
class ActuatorEffectivenessRoverDifferential: public ActuatorEffectiveness
{
public:
ActuatorEffectivenessRoverDifferential() = default;
virtual ~ActuatorEffectivenessRoverDifferential() = default;
bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
const char *name() const override { return "Rover (Differential)"; }
private:
uint32_t _motors_mask{};
};
src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt
-2
View File
@@ -62,8 +62,6 @@ px4_add_library(ActuatorEffectiveness
ActuatorEffectivenessTailsitterVTOL.hpp
ActuatorEffectivenessRoverAckermann.hpp
ActuatorEffectivenessRoverAckermann.cpp
ActuatorEffectivenessRoverDifferential.hpp
ActuatorEffectivenessRoverDifferential.cpp
)
target_compile_options(ActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
src/modules/control_allocator/ControlAllocator.cpp
+2 -1
View File
@@ -61,6 +61,7 @@ ControlAllocator::ControlAllocator() :
_actuator_servos_pub.advertise();
_actuator_servos_trim_pub.advertise();
for (int i = 0; i < MAX_NUM_MOTORS; ++i) {
char buffer[17];
snprintf(buffer, sizeof(buffer), "CA_R%u_SLEW", i);
@@ -239,7 +240,7 @@ ControlAllocator::update_effectiveness_source()
break;
case EffectivenessSource::ROVER_DIFFERENTIAL:
tmp = new ActuatorEffectivenessRoverDifferential();
// actuator_motors message is published directly from the differential drive controller
break;
case EffectivenessSource::FIXED_WING:
src/modules/control_allocator/ControlAllocator.hpp
-1
View File
@@ -47,7 +47,6 @@
#include <ActuatorEffectivenessTiltrotorVTOL.hpp>
#include <ActuatorEffectivenessTailsitterVTOL.hpp>
#include <ActuatorEffectivenessRoverAckermann.hpp>
#include <ActuatorEffectivenessRoverDifferential.hpp>
#include <ActuatorEffectivenessFixedWing.hpp>
#include <ActuatorEffectivenessMCTilt.hpp>
#include <ActuatorEffectivenessCustom.hpp>