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rover: constrain update steps

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This commit is contained in:
chfriedrich98
2025-08-22 12:13:01 +02:00
committed by chfriedrich98
parent 248f113141
commit 4a5eabb61e
15 changed files with 16 additions and 16 deletions
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src/modules/rover_ackermann/AckermannActControl/AckermannActControl.cpp
+1 -1
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@@ -57,7 +57,7 @@ void AckermannActControl::updateActControl()
{
const hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
// Motor control
if (_rover_throttle_setpoint_sub.updated()) {
src/modules/rover_ackermann/AckermannAttControl/AckermannAttControl.cpp
+1 -1
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@@ -65,7 +65,7 @@ void AckermannAttControl::updateAttControl()
hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
if (PX4_ISFINITE(_yaw_setpoint)) {
// Calculate yaw rate limit for slew rate
src/modules/rover_ackermann/AckermannRateControl/AckermannRateControl.cpp
+1 -1
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@@ -62,7 +62,7 @@ void AckermannRateControl::updateRateControl()
hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
if (PX4_ISFINITE(_yaw_rate_setpoint)) {
if (fabsf(_estimated_speed) > FLT_EPSILON) {
src/modules/rover_ackermann/AckermannSpeedControl/AckermannSpeedControl.cpp
+1 -1
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@@ -63,7 +63,7 @@ void AckermannSpeedControl::updateSpeedControl()
const hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
// Throttle Setpoint
if (PX4_ISFINITE(_speed_setpoint)) {
src/modules/rover_ackermann/AckermannSpeedControl/AckermannSpeedControl.hpp
+1 -1
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@@ -113,7 +113,7 @@ private:
// Controllers
PID _pid_speed;
SlewRate<float> _adjusted_speed_setpoint;
SlewRate<float> _adjusted_speed_setpoint{0.f};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,
src/modules/rover_differential/DifferentialActControl/DifferentialActControl.cpp
+1 -1
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@@ -53,7 +53,7 @@ void DifferentialActControl::updateActControl()
{
const hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
// Motor control
if (_rover_throttle_setpoint_sub.updated()) {
src/modules/rover_differential/DifferentialAttControl/DifferentialAttControl.cpp
+1 -1
View File
@@ -63,7 +63,7 @@ void DifferentialAttControl::updateAttControl()
{
hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
if (_vehicle_attitude_sub.updated()) {
vehicle_attitude_s vehicle_attitude{};
src/modules/rover_differential/DifferentialRateControl/DifferentialRateControl.cpp
+1 -1
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@@ -59,7 +59,7 @@ void DifferentialRateControl::updateRateControl()
{
hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
if (_vehicle_angular_velocity_sub.updated()) {
vehicle_angular_velocity_s vehicle_angular_velocity{};
src/modules/rover_differential/DifferentialSpeedControl/DifferentialSpeedControl.cpp
+1 -1
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@@ -63,7 +63,7 @@ void DifferentialSpeedControl::updateSpeedControl()
const hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
// Throttle Setpoint
if (PX4_ISFINITE(_speed_setpoint)) {
src/modules/rover_differential/DifferentialSpeedControl/DifferentialSpeedControl.hpp
+1 -1
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@@ -122,7 +122,7 @@ private:
// Controllers
PID _pid_speed;
SlewRate<float> _adjusted_speed_setpoint;
SlewRate<float> _adjusted_speed_setpoint{0.f};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,
src/modules/rover_mecanum/MecanumActControl/MecanumActControl.cpp
+1 -1
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@@ -54,7 +54,7 @@ void MecanumActControl::updateActControl()
{
const hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
// Motor control
if (_rover_throttle_setpoint_sub.updated()) {
src/modules/rover_mecanum/MecanumAttControl/MecanumAttControl.cpp
+1 -1
View File
@@ -63,7 +63,7 @@ void MecanumAttControl::updateAttControl()
{
hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
if (_vehicle_attitude_sub.updated()) {
vehicle_attitude_s vehicle_attitude{};
src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.cpp
+1 -1
View File
@@ -59,7 +59,7 @@ void MecanumRateControl::updateRateControl()
{
hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
if (_vehicle_angular_velocity_sub.updated()) {
vehicle_angular_velocity_s vehicle_angular_velocity{};
src/modules/rover_mecanum/MecanumSpeedControl/MecanumSpeedControl.cpp
+1 -1
View File
@@ -65,7 +65,7 @@ void MecanumSpeedControl::updateSpeedControl()
{
const hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
updateSubscriptions();
src/modules/rover_mecanum/MecanumSpeedControl/MecanumSpeedControl.hpp
+2 -2
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@@ -126,8 +126,8 @@ private:
// Controllers
PID _pid_speed_x;
PID _pid_speed_y;
SlewRate<float> _adjusted_speed_x_setpoint;
SlewRate<float> _adjusted_speed_y_setpoint;
SlewRate<float> _adjusted_speed_x_setpoint{0.f};
SlewRate<float> _adjusted_speed_y_setpoint{0.f};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,