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ackermann: refactor code architecture
This commit is contained in:
chfriedrich98
committed by
Silvan Fuhrer
Silvan Fuhrer
parent
ce64263ce7
commit
55f51d7e7e
@@ -70,6 +70,7 @@ add_subdirectory(pure_pursuit EXCLUDE_FROM_ALL)
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add_subdirectory(rate_control EXCLUDE_FROM_ALL)
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add_subdirectory(rc EXCLUDE_FROM_ALL)
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add_subdirectory(ringbuffer EXCLUDE_FROM_ALL)
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add_subdirectory(rover_control EXCLUDE_FROM_ALL)
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add_subdirectory(rtl EXCLUDE_FROM_ALL)
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add_subdirectory(sensor_calibration EXCLUDE_FROM_ALL)
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add_subdirectory(slew_rate EXCLUDE_FROM_ALL)
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@@ -0,0 +1,41 @@
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############################################################################
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#
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# Copyright (c) 2024 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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||||
# 2. Redistributions in binary form must reproduce the above copyright
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||||
# notice, this list of conditions and the following disclaimer in
|
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# the documentation and/or other materials provided with the
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||||
# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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||||
#
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||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(rover_control
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RoverControl.cpp
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RoverControl.hpp
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)
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target_link_libraries(rover_control PUBLIC PID)
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target_link_libraries(rover_control PUBLIC geo)
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px4_add_unit_gtest(SRC RoverControlTest.cpp LINKLIBS rover_control)
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@@ -0,0 +1,214 @@
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/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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||||
*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "RoverControl.hpp"
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using namespace matrix;
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namespace RoverControl
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{
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float throttleControl(SlewRate<float> &motor_setpoint, const float throttle_setpoint,
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const float current_motor_setpoint, const float max_accel, const float max_decel, const float max_thr_spd,
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const float dt)
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{
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// Sanitize inputs
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if (!PX4_ISFINITE(throttle_setpoint) || !PX4_ISFINITE(current_motor_setpoint) || !PX4_ISFINITE(dt)) {
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return NAN;
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}
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const bool accelerating = fabsf(throttle_setpoint) > fabsf(current_motor_setpoint);
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if (accelerating && max_accel > FLT_EPSILON && max_thr_spd > FLT_EPSILON) { // Acceleration slew rate
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motor_setpoint.setSlewRate(max_accel / max_thr_spd);
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// Reinitialize slew rate if current value is closer to setpoint than post slew rate value
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if (fabsf(motor_setpoint.getState() - current_motor_setpoint) > fabsf(throttle_setpoint -
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current_motor_setpoint)) {
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motor_setpoint.setForcedValue(current_motor_setpoint);
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}
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motor_setpoint.update(throttle_setpoint, dt);
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} else if (!accelerating && max_decel > FLT_EPSILON && max_thr_spd > FLT_EPSILON) { // Deceleration slew rate
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motor_setpoint.setSlewRate(max_decel / max_thr_spd);
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// Reinitialize slew rate if current value is closer to setpoint than post slew rate value
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if (fabsf(motor_setpoint.getState() - current_motor_setpoint) > fabsf(throttle_setpoint -
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current_motor_setpoint)) {
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motor_setpoint.setForcedValue(current_motor_setpoint);
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}
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motor_setpoint.update(throttle_setpoint, dt);
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} else { // Fallthrough if slew rate parameters are not configured
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motor_setpoint.setForcedValue(throttle_setpoint);
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}
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return motor_setpoint.getState();
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}
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float attitudeControl(SlewRateYaw<float> &adjusted_yaw_setpoint, PID &pid_yaw,
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const float yaw_slew_rate, float vehicle_yaw, float yaw_setpoint, const float dt)
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{
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// Sanitize inputs
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if (!PX4_ISFINITE(yaw_setpoint) || !PX4_ISFINITE(vehicle_yaw) || !PX4_ISFINITE(dt)) {
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return NAN;
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}
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yaw_setpoint = wrap_pi(yaw_setpoint);
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vehicle_yaw = wrap_pi(vehicle_yaw);
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if (yaw_slew_rate > FLT_EPSILON) { // Apply slew rate if configured
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adjusted_yaw_setpoint.setSlewRate(yaw_slew_rate);
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// Reinitialize slew rate if current value is closer to setpoint than post slew rate value
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if (fabsf(wrap_pi(adjusted_yaw_setpoint.getState() - vehicle_yaw)) > fabsf(wrap_pi(yaw_setpoint - vehicle_yaw))) {
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adjusted_yaw_setpoint.setForcedValue(vehicle_yaw);
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}
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adjusted_yaw_setpoint.update(yaw_setpoint, dt);
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} else {
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adjusted_yaw_setpoint.setForcedValue(yaw_setpoint);
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}
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// Feedback control
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pid_yaw.setSetpoint(
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wrap_pi(adjusted_yaw_setpoint.getState() - vehicle_yaw)); // Error as setpoint to take care of wrapping
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return pid_yaw.update(0.f, dt);
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}
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float speedControl(SlewRate<float> &speed_with_rate_limit, PID &pid_speed, const float speed_setpoint,
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const float vehicle_speed, const float max_accel, const float max_decel, const float max_thr_speed, const float dt)
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{
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// Sanitize inputs
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if (!PX4_ISFINITE(speed_setpoint) || !PX4_ISFINITE(vehicle_speed) || !PX4_ISFINITE(dt)) {
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return NAN;
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}
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// Apply acceleration and deceleration limit
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if (fabsf(speed_setpoint) >= fabsf(vehicle_speed) && max_accel > FLT_EPSILON) {
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speed_with_rate_limit.setSlewRate(max_accel);
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// Reinitialize slew rate if current value is closer to setpoint than post slew rate value
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if (fabsf(speed_with_rate_limit.getState() - vehicle_speed) > fabsf(
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speed_setpoint - vehicle_speed)) {
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speed_with_rate_limit.setForcedValue(vehicle_speed);
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}
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speed_with_rate_limit.update(speed_setpoint, dt);
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} else if (fabsf(speed_setpoint) < fabsf(vehicle_speed) && max_decel > FLT_EPSILON) {
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speed_with_rate_limit.setSlewRate(max_decel);
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// Reinitialize slew rate if current value is closer to setpoint than post slew rate value
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if (fabsf(speed_with_rate_limit.getState() - vehicle_speed) > fabsf(
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speed_setpoint - vehicle_speed)) {
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speed_with_rate_limit.setForcedValue(vehicle_speed);
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}
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speed_with_rate_limit.update(speed_setpoint, dt);
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} else { // Fallthrough if slew rate is not configured
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speed_with_rate_limit.setForcedValue(speed_setpoint);
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}
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// Calculate normalized forward speed setpoint
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float forward_speed_normalized{0.f};
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// Feedforward
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if (max_thr_speed > FLT_EPSILON) {
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forward_speed_normalized = math::interpolate<float>(speed_with_rate_limit.getState(),
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-max_thr_speed, max_thr_speed,
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-1.f, 1.f);
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}
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// Feedback control
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pid_speed.setSetpoint(speed_with_rate_limit.getState());
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forward_speed_normalized += pid_speed.update(vehicle_speed, dt);
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return math::constrain(forward_speed_normalized, -1.f, 1.f);
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}
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void globalToLocalSetpointTriplet(Vector2f &curr_wp_ned, Vector2f &prev_wp_ned, Vector2f &next_wp_ned,
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position_setpoint_triplet_s position_setpoint_triplet, Vector2f &curr_pos_ned, Vector2d &home_pos,
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MapProjection &global_ned_proj_ref)
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{
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if (position_setpoint_triplet.current.valid && PX4_ISFINITE(position_setpoint_triplet.current.lat)
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&& PX4_ISFINITE(position_setpoint_triplet.current.lon)) {
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curr_wp_ned = global_ned_proj_ref.project(position_setpoint_triplet.current.lat, position_setpoint_triplet.current.lon);
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} else {
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curr_wp_ned = curr_pos_ned.isAllFinite() ? curr_pos_ned : Vector2f(NAN, NAN); // Fallback if current waypoint is invalid
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}
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if (position_setpoint_triplet.previous.valid && PX4_ISFINITE(position_setpoint_triplet.previous.lat)
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&& PX4_ISFINITE(position_setpoint_triplet.previous.lon)) {
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prev_wp_ned = global_ned_proj_ref.project(position_setpoint_triplet.previous.lat,
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position_setpoint_triplet.previous.lon);
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} else {
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prev_wp_ned = curr_pos_ned.isAllFinite() ? curr_pos_ned : Vector2f(NAN,
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NAN); // Fallback if previous waypoint is invalid
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}
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if (position_setpoint_triplet.next.valid && PX4_ISFINITE(position_setpoint_triplet.next.lat)
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&& PX4_ISFINITE(position_setpoint_triplet.next.lon)) {
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next_wp_ned = global_ned_proj_ref.project(position_setpoint_triplet.next.lat, position_setpoint_triplet.next.lon);
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} else {
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next_wp_ned = home_pos.isAllFinite() ? global_ned_proj_ref.project(home_pos(0), home_pos(1)) : Vector2f(NAN,
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NAN); // Enables corner slow down with RTL
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}
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}
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float calcWaypointTransitionAngle(Vector2f &prev_wp_ned, Vector2f &curr_wp_ned, Vector2f &next_wp_ned)
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{
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// Sanitize inputs
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if (!prev_wp_ned.isAllFinite() || !curr_wp_ned.isAllFinite() || !next_wp_ned.isAllFinite()) {
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return NAN;
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}
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const Vector2f curr_to_next_wp_ned = next_wp_ned - curr_wp_ned;
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const Vector2f curr_to_prev_wp_ned = prev_wp_ned - curr_wp_ned;
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// Waypoint overlap
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if (curr_to_next_wp_ned.norm() < FLT_EPSILON || curr_to_prev_wp_ned.norm() < FLT_EPSILON) {
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return NAN;
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}
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float cosin = curr_to_prev_wp_ned.unit_or_zero() * curr_to_next_wp_ned.unit_or_zero();
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cosin = math::constrain<float>(cosin, -1.f, 1.f); // Protect against float precision problem
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return acosf(cosin);
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}
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} // RoverControl
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@@ -0,0 +1,118 @@
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/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* 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
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file RoverControl.hpp
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*
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* Functions that are shared among the different rover modules.
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* Also includes the parameters that are shared among the rover modules.
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*/
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#pragma once
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#include <lib/slew_rate/SlewRate.hpp>
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#include <lib/slew_rate/SlewRateYaw.hpp>
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#include <lib/pid/PID.hpp>
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#include <matrix/matrix/math.hpp>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <lib/geo/geo.h>
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using namespace matrix;
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namespace RoverControl
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{
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/**
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* Applies acceleration/deceleration slew rate to a throttle setpoint.
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* @param motor_setpoint Throttle setpoint with applied slew rate [-1, 1] (Updated by this function)
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* @param throttle_setpoint Throttle setpoint pre slew rate [-1, 1]
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* @param current_motor_setpoint Currently applied motor input [-1, 1]
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* @param max_accel Maximum allowed acceleration [m/s^2]
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* @param max_decel Maximum allowed deceleration [m/s^2]
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* @param max_thr_spd Speed the rover drives at maximum throttle [m/s]
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* @param dt Time since last update [s]
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* @return Motor Setpoint [-1, 1]
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*/
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float throttleControl(SlewRate<float> &motor_setpoint, float throttle_setpoint, float current_motor_setpoint,
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float max_accel, float max_decel, float max_thr_spd, float dt);
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/**
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* Applies yaw rate slew rate to a yaw setpoint and calculates the necessary yaw rate setpoint
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* using a PID controller.
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* @param adjusted_yaw_setpoint Yaw setpoint with applied slew rate [-1, 1] (Updated by this function)
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* @param pid_yaw Yaw PID (Updated by this function)
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* @param yaw_slew_rate Yaw slew rate [rad/s]
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* @param vehicle_yaw Measured vehicle yaw [rad]
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* @param yaw_setpoint Yaw setpoint [rad]
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* @param dt Time since last update [s]
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* @return Yaw rate setpoint [rad/s]
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*/
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float attitudeControl(SlewRateYaw<float> &adjusted_yaw_setpoint, PID &pid_yaw, float yaw_slew_rate,
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float vehicle_yaw, float yaw_setpoint, float dt);
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/**
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* Applies acceleration/deceleration slew rate to a speed setpoint and calculates the necessary throttle setpoint
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* using a feed forward term and PID controller.
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* @param speed_with_rate_limit Speed setpoint with applied slew rate [-1, 1] (Updated by this function)
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* @param pid_speed Speed PID (Updated by this function)
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* @param speed_setpoint Speed setpoint [m/s]
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* @param vehicle_speed Measured vehicle speed [m/s]
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* @param max_accel Maximum allowed acceleration [m/s^2]
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* @param max_decel Maximum allowed deceleration [m/s^2]
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* @param max_thr_speed Speed at maximum throttle [m/s]
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* @param dt Time since last update [s]
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* @return Throttle setpoint [-1, 1]
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*/
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float speedControl(SlewRate<float> &speed_with_rate_limit, PID &pid_speed, float speed_setpoint,
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float vehicle_speed, float max_accel, float max_decel, float max_thr_speed, float dt);
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/**
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* Projects positionSetpointTriplet waypoints from global to ned frame.
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* @param curr_wp_ned Current waypoint in NED frame (Updated by this function)
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* @param prev_wp_ned Previous waypoint in NED frame (Updated by this function)
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* @param next_wp_ned Next waypoint in NED frame (Updated by this function)
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* @param position_setpoint_triplet Position Setpoint Triplet
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* @param curr_pos Current position of the rover in global frame
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* @param home_pos Home position in global frame
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* @param global_ned_proj_ref Global to ned projection
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*/
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void globalToLocalSetpointTriplet(Vector2f &curr_wp_ned, Vector2f &prev_wp_ned, Vector2f &next_wp_ned,
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position_setpoint_triplet_s position_setpoint_triplet, Vector2f &curr_pos_ned, Vector2d &home_pos,
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MapProjection &global_ned_proj_ref);
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/**
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* Calculate and return the angle between the prevWP-currWP and currWP-nextWP line segments [rad]
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* @param prev_wp_ned Previous waypoint in NED frame
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* @param curr_wp_ned Current waypoint in NED frame
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* @param next_wp_ned Next waypoint in NED frame
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* @return Waypoint transition angle [rad]
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*/
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float calcWaypointTransitionAngle(Vector2f &prev_wp_ned, Vector2f &curr_wp_ned, Vector2f &next_wp_ned);
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}
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@@ -0,0 +1,115 @@
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/****************************************************************************
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*
|
||||
* Copyright (C) 2025 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/******************************************************************
|
||||
* Test code for the Pure Pursuit algorithm
|
||||
* Run this test only using "make tests TESTFILTER=RoverControl"
|
||||
******************************************************************/
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
#include "RoverControl.hpp"
|
||||
|
||||
TEST(calcWaypointTransitionAngle, invalidInputs)
|
||||
{
|
||||
Vector2f prev_wp_ned(NAN, NAN);
|
||||
Vector2f curr_wp_ned(10.f, 10.f);
|
||||
Vector2f next_wp_ned(10.f, 10.f);
|
||||
float prevInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
|
||||
prev_wp_ned = Vector2f(10.f, 10.f);
|
||||
curr_wp_ned = Vector2f(NAN, NAN);
|
||||
float currInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
|
||||
curr_wp_ned = Vector2f(10.f, 10.f);
|
||||
next_wp_ned = Vector2f(NAN, NAN);
|
||||
float nextInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
|
||||
EXPECT_FALSE(PX4_ISFINITE(prevInvalid));
|
||||
EXPECT_FALSE(PX4_ISFINITE(currInvalid));
|
||||
EXPECT_FALSE(PX4_ISFINITE(nextInvalid));
|
||||
|
||||
}
|
||||
|
||||
TEST(calcWaypointTransitionAngle, validInputs)
|
||||
{
|
||||
// P -- C -- N
|
||||
Vector2f prev_wp_ned(0.f, 0.f);
|
||||
Vector2f curr_wp_ned(10.f, 0.f);
|
||||
Vector2f next_wp_ned(20.f, 0.f);
|
||||
const float angle1 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
|
||||
EXPECT_FLOAT_EQ(angle1, M_PI_F);
|
||||
|
||||
/**
|
||||
* N
|
||||
* /
|
||||
* P -- C
|
||||
*/
|
||||
prev_wp_ned = Vector2f(0.f, 0.f);
|
||||
curr_wp_ned = Vector2f(10.f, 0.f);
|
||||
next_wp_ned = Vector2f(20.f, 10.f);
|
||||
const float angle2 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
|
||||
EXPECT_FLOAT_EQ(angle2, M_PI_F - M_PI_4_F);
|
||||
|
||||
/**
|
||||
* N
|
||||
* |
|
||||
* P -- C
|
||||
*/
|
||||
prev_wp_ned = Vector2f(0.f, 0.f);
|
||||
curr_wp_ned = Vector2f(10.f, 0.f);
|
||||
next_wp_ned = Vector2f(10.f, 10.f);
|
||||
const float angle3 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
|
||||
EXPECT_FLOAT_EQ(angle3, M_PI_2_F);
|
||||
|
||||
/**
|
||||
* N
|
||||
* \
|
||||
* P -- C
|
||||
*/
|
||||
prev_wp_ned = Vector2f(0.f, 0.f);
|
||||
curr_wp_ned = Vector2f(10.f, 0.f);
|
||||
next_wp_ned = Vector2f(0.f, 10.f);
|
||||
const float angle4 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
|
||||
EXPECT_FLOAT_EQ(angle4, M_PI_4_F);
|
||||
|
||||
// P/C -- N
|
||||
prev_wp_ned = Vector2f(0.f, 0.f);
|
||||
curr_wp_ned = Vector2f(0.f, 0.f);
|
||||
next_wp_ned = Vector2f(10.f, 0.f);
|
||||
const float angle5 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
|
||||
EXPECT_FALSE(PX4_ISFINITE(angle5));
|
||||
|
||||
// P -- C/N
|
||||
prev_wp_ned = Vector2f(0.f, 0.f);
|
||||
curr_wp_ned = Vector2f(10.f, 0.f);
|
||||
next_wp_ned = Vector2f(10.f, 0.f);
|
||||
const float angle6 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
|
||||
EXPECT_FALSE(PX4_ISFINITE(angle6));
|
||||
}
|
||||
@@ -0,0 +1,191 @@
|
||||
module_name: Rover Control
|
||||
|
||||
parameters:
|
||||
- group: Rover Control
|
||||
definitions:
|
||||
RO_MAX_THR_SPEED:
|
||||
description:
|
||||
short: Speed the rover drives at maximum throttle
|
||||
long: Used to linearly map speeds [m/s] to throttle values [-1. 1].
|
||||
type: float
|
||||
unit: m/s
|
||||
min: 0
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: 0
|
||||
|
||||
RO_ACCEL_LIM:
|
||||
description:
|
||||
short: Acceleration limit
|
||||
long: |
|
||||
Set to -1 to disable.
|
||||
For mecanum rovers this limit is used for longitudinal and lateral acceleration.
|
||||
type: float
|
||||
unit: m/s^2
|
||||
min: -1
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: -1
|
||||
|
||||
RO_DECEL_LIM:
|
||||
description:
|
||||
short: Deceleration limit
|
||||
long: |
|
||||
Set to -1 to disable.
|
||||
Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
|
||||
For mecanum rovers this limit is used for longitudinal and lateral deceleration.
|
||||
type: float
|
||||
unit: m/s^2
|
||||
min: -1
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: -1
|
||||
|
||||
RO_JERK_LIM:
|
||||
description:
|
||||
short: Jerk limit
|
||||
long: |
|
||||
Set to -1 to disable.
|
||||
Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
|
||||
For mecanum rovers this limit is used for longitudinal and lateral jerk.
|
||||
type: float
|
||||
unit: m/s^3
|
||||
min: -1
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: -1
|
||||
|
||||
RO_YAW_RATE_TH:
|
||||
description:
|
||||
short: Yaw rate measurement threshold
|
||||
long: The minimum threshold for the yaw rate measurement not to be interpreted as zero.
|
||||
type: float
|
||||
unit: deg/s
|
||||
min: 0
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: 3
|
||||
|
||||
RO_SPEED_TH:
|
||||
description:
|
||||
short: Speed measurement threshold
|
||||
long: The minimum threshold for the speed measurement not to be interpreted as zero.
|
||||
type: float
|
||||
unit: m/s
|
||||
min: 0
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: 0.1
|
||||
|
||||
RO_YAW_STICK_DZ:
|
||||
description:
|
||||
short: Yaw stick deadzone
|
||||
long: Percentage of stick input range that will be interpreted as zero around the stick centered value.
|
||||
type: float
|
||||
min: 0
|
||||
max: 1
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: 0.1
|
||||
|
||||
- group: Rover Rate Control
|
||||
definitions:
|
||||
RO_YAW_RATE_P:
|
||||
description:
|
||||
short: Proportional gain for closed loop yaw rate controller
|
||||
type: float
|
||||
min: 0
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 3
|
||||
default: 0
|
||||
|
||||
RO_YAW_RATE_I:
|
||||
description:
|
||||
short: Integral gain for closed loop yaw rate controller
|
||||
type: float
|
||||
min: 0
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 3
|
||||
default: 0
|
||||
|
||||
RO_YAW_RATE_LIM:
|
||||
description:
|
||||
short: Yaw rate limit
|
||||
long: |
|
||||
Used to cap yaw rate setpoints and map controller inputs to yaw rate setpoints
|
||||
in Acro, Stabilized and Position mode.
|
||||
type: float
|
||||
unit: deg/s
|
||||
min: 0
|
||||
max: 10000
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: 0
|
||||
|
||||
RO_YAW_ACCEL_LIM:
|
||||
description:
|
||||
short: Yaw acceleration limit
|
||||
long: Set to -1 to disable.
|
||||
type: float
|
||||
unit: deg/s^2
|
||||
min: -1
|
||||
max: 10000
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: -1
|
||||
|
||||
- group: Rover Attitude Control
|
||||
definitions:
|
||||
RO_YAW_P:
|
||||
description:
|
||||
short: Proportional gain for closed loop yaw controller
|
||||
type: float
|
||||
min: 0
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 3
|
||||
default: 0
|
||||
|
||||
- group: Rover Velocity Control
|
||||
definitions:
|
||||
RO_SPEED_P:
|
||||
description:
|
||||
short: Proportional gain for ground speed controller
|
||||
type: float
|
||||
min: 0
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: 0
|
||||
|
||||
RO_SPEED_I:
|
||||
description:
|
||||
short: Integral gain for ground speed controller
|
||||
type: float
|
||||
min: 0
|
||||
max: 100
|
||||
increment: 0.001
|
||||
decimal: 3
|
||||
default: 0
|
||||
|
||||
RO_SPEED_LIM:
|
||||
description:
|
||||
short: Speed limit
|
||||
long: |
|
||||
Used to cap speed setpoints and map controller inputs to speed setpoints
|
||||
in Position mode.
|
||||
type: float
|
||||
unit: m/s
|
||||
min: -1
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: -1
|
||||
Reference in New Issue
Block a user