fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

mecanum: refactor code architecture

Browse Source
This commit is contained in:
chfriedrich98 2025-02-17 11:56:05 +01:00 committed by chfriedrich98
parent d602b569b1
commit 7c63468e8b
24 changed files with 1634 additions and 1400 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

48
ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum
View File

@ -11,28 +11,38 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default RM_WHEEL_TRACK 0.3
param set-default RM_YAW_RATE_I 0.1
param set-default RM_YAW_RATE_P 0.1
param set-default RM_MAX_ACCEL 3
param set-default RM_MAX_DECEL 5
param set-default RM_MAX_JERK 5
param set-default RM_MAX_SPEED 2
param set-default RM_MAX_THR_SPD 2.2
param set-default RM_MAX_THR_YAW_R 1.2
param set-default RM_YAW_P 5
param set-default RM_YAW_I 0.1
param set-default RM_MAX_YAW_RATE 120
param set-default RM_MAX_YAW_ACCEL 240
param set-default RM_MISS_VEL_GAIN 1
param set-default RM_SPEED_I 0.01
param set-default RM_SPEED_P 0.1
param set-default NAV_ACC_RAD 0.5
# Pure pursuit parameters
# Mecanum Parameters
param set-default RM_WHEEL_TRACK 0.3
param set-default RM_MAX_THR_YAW_R 1.2
param set-default RM_MISS_SPD_GAIN 1
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 5
param set-default RO_JERK_LIM 30
param set-default RO_MAX_THR_SPEED 2.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 120
param set-default RO_YAW_ACCEL_LIM 240
param set-default RO_YAW_DECEL_LIM 1000
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 2
param set-default RO_SPEED_I 0.5
param set-default RO_SPEED_P 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 0.5
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
param set-default PP_LOOKAHD_GAIN 0.5
# Simulated sensors
param set-default SENS_EN_GPSSIM 1

5
msg/CMakeLists.txt
View File

@ -173,14 +173,11 @@ set(msg_files
RcParameterMap.msg
RoverAttitudeSetpoint.msg
RoverAttitudeStatus.msg
RoverVelocityStatus.msg
RoverRateSetpoint.msg
RoverRateStatus.msg
RoverSteeringSetpoint.msg
RoverThrottleSetpoint.msg
RoverMecanumGuidanceStatus.msg
RoverMecanumSetpoint.msg
RoverMecanumStatus.msg
RoverVelocityStatus.msg
Rpm.msg
RtlStatus.msg
RtlTimeEstimate.msg

7
msg/RoverMecanumGuidanceStatus.msg
View File

@ -1,7 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
float32 heading_error # [rad] Heading error of the pure pursuit controller
float32 desired_speed # [m/s] Desired velocity magnitude (speed)
# TOPICS rover_mecanum_guidance_status

11
msg/RoverMecanumSetpoint.msg
View File

@ -1,11 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 forward_speed_setpoint # [m/s] Desired forward speed
float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward speed
float32 lateral_speed_setpoint # [m/s] Desired lateral speed
float32 lateral_speed_setpoint_normalized # [-1, 1] Desired normalized lateral speed
float32 yaw_rate_setpoint # [rad/s] Desired yaw rate
float32 speed_diff_setpoint_normalized # [-1, 1] Normalized speed difference between the left and right wheels
float32 yaw_setpoint # [rad] Desired yaw (heading)
# TOPICS rover_mecanum_setpoint

17
msg/RoverMecanumStatus.msg
View File

@ -1,17 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 measured_forward_speed # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
float32 measured_lateral_speed # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
float32 adjusted_lateral_speed_setpoint # [m/s] Speed setpoint after applying slew rate
float32 measured_yaw_rate # [rad/s] Measured yaw rate
float32 clyaw_yaw_rate_setpoint # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint from the closed loop yaw controller
float32 measured_yaw # [rad] Measured yaw
float32 adjusted_yaw_setpoint # [rad] Yaw setpoint after applying slew rate
float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
float32 pid_forward_throttle_integral # Integral of the PID for the closed loop forward speed controller
float32 pid_lateral_throttle_integral # Integral of the PID for the closed loop lateral speed controller
# TOPICS rover_mecanum_status

5
src/modules/logger/logged_topics.cpp
View File

@ -105,14 +105,11 @@ void LoggedTopics::add_default_topics()
add_topic("radio_status");
add_optional_topic("rover_attitude_setpoint", 100);
add_optional_topic("rover_attitude_status", 100);
add_optional_topic("rover_velocity_status", 100);
add_optional_topic("rover_rate_setpoint", 100);
add_optional_topic("rover_rate_status", 100);
add_optional_topic("rover_steering_setpoint", 100);
add_optional_topic("rover_throttle_setpoint", 100);
add_optional_topic("rover_mecanum_guidance_status", 100);
add_optional_topic("rover_mecanum_setpoint", 100);
add_optional_topic("rover_mecanum_status", 100);
add_optional_topic("rover_velocity_status", 100);
add_topic("rtl_time_estimate", 1000);
add_topic("rtl_status", 2000);
add_optional_topic("sensor_airflow", 100);

14
src/modules/rover_mecanum/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2024 PX4 Development Team. All rights reserved.
# 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
@ -31,8 +31,9 @@
#
############################################################################
add_subdirectory(RoverMecanumGuidance)
add_subdirectory(RoverMecanumControl)
add_subdirectory(MecanumRateControl)
add_subdirectory(MecanumAttControl)
add_subdirectory(MecanumPosVelControl)
px4_add_module(
MODULE modules__rover_mecanum
@ -41,10 +42,11 @@ px4_add_module(
RoverMecanum.cpp
RoverMecanum.hpp
DEPENDS
RoverMecanumGuidance
RoverMecanumControl
MecanumRateControl
MecanumAttControl
MecanumPosVelControl
px4_work_queue
pure_pursuit
rover_control
MODULE_CONFIG
module.yaml
)

3
src/modules/rover_mecanum/Kconfig
View File

@ -1,6 +1,5 @@
menuconfig MODULES_ROVER_MECANUM
bool "rover_mecanum"
default n
depends on MODULES_CONTROL_ALLOCATOR
---help---
Enable support for control of mecanum rovers
Enable support for mecanum rovers

9
src/modules/rover_mecanum/RoverMecanumGuidance/CMakeLists.txt → src/modules/rover_mecanum/MecanumAttControl/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2024 PX4 Development Team. All rights reserved.
# 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
@ -31,8 +31,9 @@
#
############################################################################
px4_add_library(RoverMecanumGuidance
RoverMecanumGuidance.cpp
px4_add_library(MecanumAttControl
MecanumAttControl.cpp
)
target_include_directories(RoverMecanumGuidance PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(MecanumAttControl PUBLIC PID)
target_include_directories(MecanumAttControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

215
src/modules/rover_mecanum/MecanumAttControl/MecanumAttControl.cpp Normal file
View File

@ -0,0 +1,215 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#include "MecanumAttControl.hpp"
using namespace time_literals;
MecanumAttControl::MecanumAttControl(ModuleParams *parent) : ModuleParams(parent)
{
_rover_rate_setpoint_pub.advertise();
_rover_throttle_setpoint_pub.advertise();
_rover_attitude_setpoint_pub.advertise();
_rover_attitude_status_pub.advertise();
updateParams();
}
void MecanumAttControl::updateParams()
{
ModuleParams::updateParams();
if (_param_ro_yaw_rate_limit.get() > FLT_EPSILON) {
_max_yaw_rate = _param_ro_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
}
_pid_yaw.setGains(_param_ro_yaw_p.get(), 0.f, 0.f);
_pid_yaw.setIntegralLimit(_max_yaw_rate);
_pid_yaw.setOutputLimit(_max_yaw_rate);
_adjusted_yaw_setpoint.setSlewRate(_max_yaw_rate);
}
void MecanumAttControl::updateAttControl()
{
const hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
_dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
if (_vehicle_control_mode_sub.updated()) {
_vehicle_control_mode_sub.copy(&_vehicle_control_mode);
}
if (_vehicle_attitude_sub.updated()) {
vehicle_attitude_s vehicle_attitude{};
_vehicle_attitude_sub.copy(&vehicle_attitude);
matrix::Quatf vehicle_attitude_quaternion = matrix::Quatf(vehicle_attitude.q);
_vehicle_yaw = matrix::Eulerf(vehicle_attitude_quaternion).psi();
}
if (_vehicle_control_mode.flag_control_attitude_enabled && _vehicle_control_mode.flag_armed && runSanityChecks()) {
if (_vehicle_control_mode.flag_control_manual_enabled || _vehicle_control_mode.flag_control_offboard_enabled) {
generateAttitudeSetpoint();
}
generateRateSetpoint();
} else { // Reset pid and slew rate when attitude control is not active
_pid_yaw.resetIntegral();
_adjusted_yaw_setpoint.setForcedValue(0.f);
}
// Publish attitude controller status (logging only)
rover_attitude_status_s rover_attitude_status;
rover_attitude_status.timestamp = _timestamp;
rover_attitude_status.measured_yaw = _vehicle_yaw;
rover_attitude_status.adjusted_yaw_setpoint = _adjusted_yaw_setpoint.getState();
_rover_attitude_status_pub.publish(rover_attitude_status);
}
void MecanumAttControl::generateAttitudeSetpoint()
{
const bool stab_mode_enabled = _vehicle_control_mode.flag_control_manual_enabled
&& !_vehicle_control_mode.flag_control_position_enabled && _vehicle_control_mode.flag_control_attitude_enabled;
if (stab_mode_enabled && _manual_control_setpoint_sub.updated()) { // Stab Mode
manual_control_setpoint_s manual_control_setpoint{};
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
rover_throttle_setpoint_s rover_throttle_setpoint{};
rover_throttle_setpoint.timestamp = _timestamp;
rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
rover_throttle_setpoint.throttle_body_y = manual_control_setpoint.roll;
_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
const float yaw_rate_setpoint = math::interpolate<float>(math::deadzone(manual_control_setpoint.yaw,
_param_ro_yaw_stick_dz.get()), -1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);
if (fabsf(yaw_rate_setpoint) > FLT_EPSILON) { // Closed loop yaw rate control
_stab_yaw_setpoint = NAN;
_adjusted_yaw_setpoint.setForcedValue(0.f);
rover_rate_setpoint_s rover_rate_setpoint{};
rover_rate_setpoint.timestamp = _timestamp;
rover_rate_setpoint.yaw_rate_setpoint = yaw_rate_setpoint;
_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
} else if (fabsf(rover_throttle_setpoint.throttle_body_x) > FLT_EPSILON
|| fabsf(rover_throttle_setpoint.throttle_body_y) >
FLT_EPSILON) { // Closed loop yaw control if the yaw rate input is zero (keep current yaw)
if (!PX4_ISFINITE(_stab_yaw_setpoint)) {
_stab_yaw_setpoint = _vehicle_yaw;
}
rover_attitude_setpoint_s rover_attitude_setpoint{};
rover_attitude_setpoint.timestamp = _timestamp;
rover_attitude_setpoint.yaw_setpoint = _stab_yaw_setpoint;
_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
} else { // Reset yaw control and yaw rate setpoint
_stab_yaw_setpoint = NAN;
_adjusted_yaw_setpoint.setForcedValue(0.f);
rover_rate_setpoint_s rover_rate_setpoint{};
rover_rate_setpoint.timestamp = _timestamp;
rover_rate_setpoint.yaw_rate_setpoint = 0.f;
_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
}
}
} else if (_vehicle_control_mode.flag_control_offboard_enabled) { // Offboard attitude control
trajectory_setpoint_s trajectory_setpoint{};
_trajectory_setpoint_sub.copy(&trajectory_setpoint);
if (_offboard_control_mode_sub.updated()) {
_offboard_control_mode_sub.copy(&_offboard_control_mode);
}
const bool offboard_att_control = _offboard_control_mode.attitude;
if (offboard_att_control && PX4_ISFINITE(trajectory_setpoint.yaw)) {
rover_attitude_setpoint_s rover_attitude_setpoint{};
rover_attitude_setpoint.timestamp = _timestamp;
rover_attitude_setpoint.yaw_setpoint = trajectory_setpoint.yaw;
_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
}
}
}
void MecanumAttControl::generateRateSetpoint()
{
if (_rover_attitude_setpoint_sub.updated()) {
_rover_attitude_setpoint_sub.copy(&_rover_attitude_setpoint);
}
if (_rover_rate_setpoint_sub.updated()) {
_rover_rate_setpoint_sub.copy(&_rover_rate_setpoint);
}
// Check if a new rate setpoint was already published from somewhere else
if (_rover_rate_setpoint.timestamp > _last_rate_setpoint_update
&& _rover_rate_setpoint.timestamp > _rover_attitude_setpoint.timestamp) {
return;
}
const float yaw_rate_setpoint = RoverControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, _max_yaw_rate,
_vehicle_yaw, _rover_attitude_setpoint.yaw_setpoint, _dt);
_last_rate_setpoint_update = _timestamp;
rover_rate_setpoint_s rover_rate_setpoint{};
rover_rate_setpoint.timestamp = _timestamp;
rover_rate_setpoint.yaw_rate_setpoint = math::constrain(yaw_rate_setpoint, -_max_yaw_rate, _max_yaw_rate);
_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
}
bool MecanumAttControl::runSanityChecks()
{
bool ret = true;
if (_param_ro_yaw_rate_limit.get() < FLT_EPSILON) {
ret = false;
}
if (_param_ro_yaw_p.get() < FLT_EPSILON) {
ret = false;
if (_prev_param_check_passed) {
events::send<float>(events::ID("mecanum_att_control_conf_invalid_yaw_p"), events::Log::Error,
"Invalid configuration of necessary parameter RO_YAW_P", _param_ro_yaw_p.get());
}
}
_prev_param_check_passed = ret;
return ret;
}

142
src/modules/rover_mecanum/MecanumAttControl/MecanumAttControl.hpp Normal file
View File

@ -0,0 +1,142 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
// PX4 includes
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/events.h>
// Libraries
#include <lib/rover_control/RoverControl.hpp>
#include <lib/pid/PID.hpp>
#include <lib/slew_rate/SlewRateYaw.hpp>
#include <math.h>
#include <matrix/matrix/math.hpp>
// uORB includes
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/rover_rate_setpoint.h>
#include <uORB/topics/rover_throttle_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/rover_attitude_status.h>
#include <uORB/topics/rover_attitude_setpoint.h>
#include <uORB/topics/actuator_motors.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/trajectory_setpoint.h>
/**
* @brief Class for mecanum attitude control.
*/
class MecanumAttControl : public ModuleParams
{
public:
/**
* @brief Constructor for MecanumAttControl.
* @param parent The parent ModuleParams object.
*/
MecanumAttControl(ModuleParams *parent);
~MecanumAttControl() = default;
/**
* @brief Update attitude controller.
*/
void updateAttControl();
protected:
/**
* @brief Update the parameters of the module.
*/
void updateParams() override;
private:
/**
* @brief Generate and publish roverAttitudeSetpoint from manualControlSetpoint (Stab Mode)
* or trajectorySetpoint (Offboard attitude control).
*/
void generateAttitudeSetpoint();
/**
* @brief Generate and publish roverRateSetpoint from roverAttitudeSetpoint.
*/
void generateRateSetpoint();
/**
* @brief Check if the necessary parameters are set.
* @return True if all checks pass.
*/
bool runSanityChecks();
// uORB subscriptions
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
uORB::Subscription _rover_attitude_setpoint_sub{ORB_ID(rover_attitude_setpoint)};
uORB::Subscription _rover_rate_setpoint_sub{ORB_ID(rover_rate_setpoint)};
vehicle_control_mode_s _vehicle_control_mode{};
rover_attitude_setpoint_s _rover_attitude_setpoint{};
rover_rate_setpoint_s _rover_rate_setpoint{};
offboard_control_mode_s _offboard_control_mode{};
// uORB publications
uORB::Publication<rover_rate_setpoint_s> _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
uORB::Publication<rover_attitude_status_s> _rover_attitude_status_pub{ORB_ID(rover_attitude_status)};
// Variables
hrt_abstime _timestamp{0};
hrt_abstime _last_rate_setpoint_update{0};
float _vehicle_yaw{0.f};
float _dt{0.f};
float _max_yaw_rate{0.f};
float _stab_yaw_setpoint{0.f}; // Yaw setpoint for stab mode, NAN if yaw rate is manually controlled [rad]
bool _prev_param_check_passed{true};
// Controllers
PID _pid_yaw;
SlewRateYaw<float> _adjusted_yaw_setpoint;
// Parameters
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RO_YAW_RATE_LIM>) _param_ro_yaw_rate_limit,
(ParamFloat<px4::params::RO_YAW_P>) _param_ro_yaw_p,
(ParamFloat<px4::params::RO_YAW_STICK_DZ>) _param_ro_yaw_stick_dz
)
};

40
src/modules/rover_mecanum/MecanumPosVelControl/CMakeLists.txt Normal file
View File

@ -0,0 +1,40 @@
############################################################################
#
# 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.
#
############################################################################
px4_add_library(MecanumPosVelControl
MecanumPosVelControl.cpp
)
target_link_libraries(MecanumPosVelControl PUBLIC PID)
target_link_libraries(MecanumPosVelControl PUBLIC pure_pursuit)
target_include_directories(MecanumPosVelControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

426
src/modules/rover_mecanum/MecanumPosVelControl/MecanumPosVelControl.cpp Normal file
View File

@ -0,0 +1,426 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#include "MecanumPosVelControl.hpp"
using namespace time_literals;
MecanumPosVelControl::MecanumPosVelControl(ModuleParams *parent) : ModuleParams(parent)
{
_rover_rate_setpoint_pub.advertise();
_rover_throttle_setpoint_pub.advertise();
_rover_attitude_setpoint_pub.advertise();
_rover_velocity_status_pub.advertise();
updateParams();
}
void MecanumPosVelControl::updateParams()
{
ModuleParams::updateParams();
_pid_speed_x.setGains(_param_ro_speed_p.get(), _param_ro_speed_i.get(), 0.f);
_pid_speed_x.setIntegralLimit(1.f);
_pid_speed_x.setOutputLimit(1.f);
_pid_speed_y.setGains(_param_ro_speed_p.get(), _param_ro_speed_i.get(), 0.f);
_pid_speed_y.setIntegralLimit(1.f);
_pid_speed_y.setOutputLimit(1.f);
_max_yaw_rate = _param_ro_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
if (_param_ro_accel_limit.get() > FLT_EPSILON) {
_speed_x_setpoint.setSlewRate(_param_ro_accel_limit.get());
_speed_y_setpoint.setSlewRate(_param_ro_accel_limit.get());
}
}
void MecanumPosVelControl::updatePosControl()
{
const hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
_dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
updateSubscriptions();
if ((_vehicle_control_mode.flag_control_position_enabled || _vehicle_control_mode.flag_control_velocity_enabled)
&& _vehicle_control_mode.flag_armed && runSanityChecks()) {
generateAttitudeSetpoint();
if (_param_ro_max_thr_speed.get() > FLT_EPSILON) { // Adjust speed setpoints if infeasible
if (_rover_steering_setpoint_sub.updated()) {
_rover_steering_setpoint_sub.copy(&_rover_steering_setpoint);
}
float speed_body_x_setpoint_normalized = math::interpolate<float>(_speed_body_x_setpoint,
-_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get(), -1.f, 1.f);
float speed_body_y_setpoint_normalized = math::interpolate<float>(_speed_body_y_setpoint,
-_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get(), -1.f, 1.f);
const float total_speed = fabsf(speed_body_x_setpoint_normalized) + fabsf(speed_body_y_setpoint_normalized) + fabsf(
_rover_steering_setpoint.normalized_speed_diff);
if (total_speed > 1.f) {
const float theta = atan2f(fabsf(speed_body_y_setpoint_normalized), fabsf(speed_body_x_setpoint_normalized));
const float magnitude = (1.f - fabsf(_rover_steering_setpoint.normalized_speed_diff)) / (sinf(theta) + cosf(theta));
const float normalization = 1.f / (sqrtf(powf(speed_body_x_setpoint_normalized,
2.f) + powf(speed_body_y_setpoint_normalized, 2.f)));
speed_body_x_setpoint_normalized *= magnitude * normalization;
speed_body_y_setpoint_normalized *= magnitude * normalization;
_speed_body_x_setpoint = math::interpolate<float>(speed_body_x_setpoint_normalized, -1.f, 1.f,
-_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get());
_speed_body_y_setpoint = math::interpolate<float>(speed_body_y_setpoint_normalized, -1.f, 1.f,
-_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get());
}
}
rover_throttle_setpoint_s rover_throttle_setpoint{};
rover_throttle_setpoint.timestamp = _timestamp;
_speed_body_x_setpoint = fabsf(_speed_body_x_setpoint) > _param_ro_speed_th.get() ? _speed_body_x_setpoint : 0.f;
_speed_body_y_setpoint = fabsf(_speed_body_y_setpoint) > _param_ro_speed_th.get() ? _speed_body_y_setpoint : 0.f;
rover_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_speed_x_setpoint, _pid_speed_x,
_speed_body_x_setpoint, _vehicle_speed_body_x, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
_param_ro_max_thr_speed.get(), _dt);
rover_throttle_setpoint.throttle_body_y = RoverControl::speedControl(_speed_y_setpoint, _pid_speed_y,
_speed_body_y_setpoint, _vehicle_speed_body_y, _param_ro_accel_limit.get(), _param_ro_decel_limit.get(),
_param_ro_max_thr_speed.get(), _dt);
_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
} else { // Reset controller and slew rate when position control is not active
_pid_speed_x.resetIntegral();
_speed_x_setpoint.setForcedValue(0.f);
_pid_speed_y.resetIntegral();
_speed_y_setpoint.setForcedValue(0.f);
}
// Publish position controller status (logging only)
rover_velocity_status_s rover_velocity_status;
rover_velocity_status.timestamp = _timestamp;
rover_velocity_status.measured_speed_body_x = _vehicle_speed_body_x;
rover_velocity_status.speed_body_x_setpoint = _speed_body_x_setpoint;
rover_velocity_status.adjusted_speed_body_x_setpoint = _speed_x_setpoint.getState();
rover_velocity_status.measured_speed_body_y = _vehicle_speed_body_y;
rover_velocity_status.speed_body_y_setpoint = _speed_body_y_setpoint;
rover_velocity_status.adjusted_speed_body_y_setpoint = _speed_y_setpoint.getState();
rover_velocity_status.pid_throttle_body_x_integral = _pid_speed_x.getIntegral();
rover_velocity_status.pid_throttle_body_y_integral = _pid_speed_y.getIntegral();
_rover_velocity_status_pub.publish(rover_velocity_status);
}
void MecanumPosVelControl::updateSubscriptions()
{
if (_vehicle_control_mode_sub.updated()) {
_vehicle_control_mode_sub.copy(&_vehicle_control_mode);
}
if (_vehicle_attitude_sub.updated()) {
vehicle_attitude_s vehicle_attitude{};
_vehicle_attitude_sub.copy(&vehicle_attitude);
_vehicle_attitude_quaternion = matrix::Quatf(vehicle_attitude.q);
_vehicle_yaw = matrix::Eulerf(_vehicle_attitude_quaternion).psi();
}
if (_vehicle_local_position_sub.updated()) {
vehicle_local_position_s vehicle_local_position{};
_vehicle_local_position_sub.copy(&vehicle_local_position);
if (!_global_ned_proj_ref.isInitialized()
|| (_global_ned_proj_ref.getProjectionReferenceTimestamp() != vehicle_local_position.ref_timestamp)) {
_global_ned_proj_ref.initReference(vehicle_local_position.ref_lat, vehicle_local_position.ref_lon,
vehicle_local_position.ref_timestamp);
}
_curr_pos_ned = Vector2f(vehicle_local_position.x, vehicle_local_position.y);
Vector3f velocity_in_local_frame(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame);
_vehicle_speed_body_x = fabsf(velocity_in_body_frame(0)) > _param_ro_speed_th.get() ? velocity_in_body_frame(0) : 0.f;
_vehicle_speed_body_y = fabsf(velocity_in_body_frame(1)) > _param_ro_speed_th.get() ? velocity_in_body_frame(1) : 0.f;
}
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status;
_vehicle_status_sub.copy(&vehicle_status);
_nav_state = vehicle_status.nav_state;
}
}
void MecanumPosVelControl::generateAttitudeSetpoint()
{
if (_vehicle_control_mode.flag_control_manual_enabled
&& _vehicle_control_mode.flag_control_position_enabled) { // Position Mode
manualPositionMode();
} else if (_vehicle_control_mode.flag_control_offboard_enabled) { // Offboard Control
if (_offboard_control_mode_sub.updated()) {
_offboard_control_mode_sub.copy(&_offboard_control_mode);
}
if (_offboard_control_mode.position) {
offboardPositionMode();
} else if (_offboard_control_mode.velocity) {
offboardVelocityMode();
}
} else if (_vehicle_control_mode.flag_control_auto_enabled) { // Auto Mode
autoPositionMode();
}
}
void MecanumPosVelControl::manualPositionMode()
{
manual_control_setpoint_s manual_control_setpoint{};
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
_speed_body_x_setpoint = math::interpolate<float>(manual_control_setpoint.throttle,
-1.f, 1.f, -_param_ro_speed_limit.get(), _param_ro_speed_limit.get());
_speed_body_y_setpoint = math::interpolate<float>(manual_control_setpoint.roll,
-1.f, 1.f, -_param_ro_speed_limit.get(), _param_ro_speed_limit.get());
const float yaw_rate_setpoint = math::interpolate<float>(math::deadzone(manual_control_setpoint.yaw,
_param_ro_yaw_stick_dz.get()), -1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);
if (fabsf(yaw_rate_setpoint) > FLT_EPSILON) { // Closed loop yaw rate control
_pos_ctl_yaw_setpoint = NAN;
rover_rate_setpoint_s rover_rate_setpoint{};
rover_rate_setpoint.timestamp = _timestamp;
rover_rate_setpoint.yaw_rate_setpoint = yaw_rate_setpoint;
_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
} else if ((fabsf(_speed_body_x_setpoint) > FLT_EPSILON
|| fabsf(_speed_body_y_setpoint) >
FLT_EPSILON)) { // Course control if the steering input is zero (keep driving on a straight line)
const Vector3f velocity = Vector3f(_speed_body_x_setpoint, _speed_body_y_setpoint, 0.f);
const float velocity_magnitude_setpoint = velocity.norm();
const Vector3f pos_ctl_course_direction_local = _vehicle_attitude_quaternion.rotateVector(velocity.normalized());
const Vector2f pos_ctl_course_direction_temp = Vector2f(pos_ctl_course_direction_local(0),
pos_ctl_course_direction_local(1));
// Reset course control if course direction change is above threshold
if (fabsf(asinf(pos_ctl_course_direction_temp % _pos_ctl_course_direction)) > _param_rm_course_ctl_th.get()) {
_pos_ctl_yaw_setpoint = NAN;
}
if (!PX4_ISFINITE(_pos_ctl_yaw_setpoint)) {
_pos_ctl_start_position_ned = _curr_pos_ned;
_pos_ctl_yaw_setpoint = _vehicle_yaw;
_pos_ctl_course_direction = pos_ctl_course_direction_temp;
}
// Construct a 'target waypoint' for course control s.t. it is never within the maximum lookahead of the rover
const float vector_scaling = sqrtf(powf(_param_pp_lookahd_max.get(),
2) + powf(_posctl_pure_pursuit.getCrosstrackError(), 2)) + _posctl_pure_pursuit.getDistanceOnLineSegment();
const Vector2f target_waypoint_ned = _pos_ctl_start_position_ned + vector_scaling * _pos_ctl_course_direction;
const float bearing_setpoint = _posctl_pure_pursuit.calcDesiredHeading(target_waypoint_ned, _pos_ctl_start_position_ned,
_curr_pos_ned, velocity_magnitude_setpoint);
const float bearing_setpoint_body_frame = matrix::wrap_pi(bearing_setpoint - _vehicle_yaw);
_speed_body_x_setpoint = velocity_magnitude_setpoint * cosf(bearing_setpoint_body_frame);
_speed_body_y_setpoint = velocity_magnitude_setpoint * sinf(bearing_setpoint_body_frame);
rover_attitude_setpoint_s rover_attitude_setpoint{};
rover_attitude_setpoint.timestamp = _timestamp;
rover_attitude_setpoint.yaw_setpoint = _pos_ctl_yaw_setpoint;
_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
} else { // Reset course control and yaw rate setpoint
_pos_ctl_yaw_setpoint = NAN;
rover_rate_setpoint_s rover_rate_setpoint{};
rover_rate_setpoint.timestamp = _timestamp;
rover_rate_setpoint.yaw_rate_setpoint = 0.f;
_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
}
}
}
void MecanumPosVelControl::offboardPositionMode()
{
trajectory_setpoint_s trajectory_setpoint{};
_trajectory_setpoint_sub.copy(&trajectory_setpoint);
// Translate trajectory setpoint to rover setpoints
const Vector2f target_waypoint_ned(trajectory_setpoint.position[0], trajectory_setpoint.position[1]);
const float distance_to_target = (target_waypoint_ned - _curr_pos_ned).norm();
if (target_waypoint_ned.isAllFinite() && distance_to_target > _param_nav_acc_rad.get()) {
const float velocity_magnitude_setpoint = math::min(math::trajectory::computeMaxSpeedFromDistance(
_param_ro_jerk_limit.get(),
_param_ro_decel_limit.get(), distance_to_target, 0.f), _param_ro_speed_limit.get());
const float bearing_setpoint = _posctl_pure_pursuit.calcDesiredHeading(target_waypoint_ned, _curr_pos_ned,
_curr_pos_ned, fabsf(_speed_body_x_setpoint));
const float bearing_setpoint_body_frame = matrix::wrap_pi(bearing_setpoint - _vehicle_yaw);
_speed_body_x_setpoint = velocity_magnitude_setpoint * cosf(bearing_setpoint_body_frame);
_speed_body_y_setpoint = velocity_magnitude_setpoint * sinf(bearing_setpoint_body_frame);
} else {
_speed_body_x_setpoint = 0.f;
_speed_body_y_setpoint = 0.f;
}
}
void MecanumPosVelControl::offboardVelocityMode()
{
trajectory_setpoint_s trajectory_setpoint{};
_trajectory_setpoint_sub.copy(&trajectory_setpoint);
const Vector3f velocity_in_local_frame(trajectory_setpoint.velocity[0], trajectory_setpoint.velocity[1],
trajectory_setpoint.velocity[2]);
const Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame);
if (velocity_in_body_frame.isAllFinite()) {
_speed_body_x_setpoint = velocity_in_body_frame(0);
_speed_body_y_setpoint = velocity_in_body_frame(1);
} else {
_speed_body_x_setpoint = 0.f;
_speed_body_y_setpoint = 0.f;
}
}
void MecanumPosVelControl::autoPositionMode()
{
updateAutoSubscriptions();
const float distance_to_curr_wp = sqrt(powf(_curr_pos_ned(0) - _curr_wp_ned(0),
2) + powf(_curr_pos_ned(1) - _curr_wp_ned(1), 2));
if (_nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) { // Check RTL arrival
_mission_finished = distance_to_curr_wp < _param_nav_acc_rad.get();
}
const float velocity_magnitude = calcVelocityMagnitude(_auto_speed, distance_to_curr_wp, _param_ro_decel_limit.get(),
_param_ro_jerk_limit.get(), _waypoint_transition_angle, _param_ro_speed_limit.get(), _param_rm_miss_spd_gain.get(),
_nav_state);
const float bearing_setpoint = _posctl_pure_pursuit.calcDesiredHeading(_curr_wp_ned, _prev_wp_ned, _curr_pos_ned,
velocity_magnitude);
const float bearing_setpoint_body_frame = matrix::wrap_pi(bearing_setpoint - _vehicle_yaw);
Vector2f desired_velocity(0.f, 0.f);
_speed_body_x_setpoint = _mission_finished ? 0.f : velocity_magnitude * cosf(bearing_setpoint_body_frame);
_speed_body_y_setpoint = _mission_finished ? 0.f : velocity_magnitude * sinf(bearing_setpoint_body_frame);
rover_attitude_setpoint_s rover_attitude_setpoint{};
rover_attitude_setpoint.timestamp = _timestamp;
rover_attitude_setpoint.yaw_setpoint = _auto_yaw;
_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
}
void MecanumPosVelControl::updateAutoSubscriptions()
{
if (_home_position_sub.updated()) {
home_position_s home_position{};
_home_position_sub.copy(&home_position);
_home_position = Vector2d(home_position.lat, home_position.lon);
}
if (_position_setpoint_triplet_sub.updated()) {
position_setpoint_triplet_s position_setpoint_triplet{};
_position_setpoint_triplet_sub.copy(&position_setpoint_triplet);
RoverControl::globalToLocalSetpointTriplet(_curr_wp_ned, _prev_wp_ned, _next_wp_ned, position_setpoint_triplet,
_curr_pos_ned, _home_position, _global_ned_proj_ref);
_waypoint_transition_angle = RoverControl::calcWaypointTransitionAngle(_prev_wp_ned, _curr_wp_ned, _next_wp_ned);
// Waypoint cruising speed
_auto_speed = position_setpoint_triplet.current.cruising_speed > 0.f ? math::constrain(
position_setpoint_triplet.current.cruising_speed, 0.f, _param_ro_speed_limit.get()) : _param_ro_speed_limit.get();
// Waypoint yaw setpoint
if (PX4_ISFINITE(position_setpoint_triplet.current.yaw)) {
_auto_yaw = position_setpoint_triplet.current.yaw;
} else {
_auto_yaw = _vehicle_yaw;
}
}
if (_mission_result_sub.updated()) {
mission_result_s mission_result{};
_mission_result_sub.copy(&mission_result);
_mission_finished = mission_result.finished;
}
}
float MecanumPosVelControl::calcVelocityMagnitude(const float auto_speed, const float distance_to_curr_wp,
const float max_decel, const float max_jerk, const float waypoint_transition_angle, const float max_speed,
const float miss_spd_gain, const int nav_state)
{
float velocity_magnitude{auto_speed};
if (max_jerk > FLT_EPSILON && max_decel > FLT_EPSILON
&& miss_spd_gain > FLT_EPSILON) {
float max_velocity_magnitude = velocity_magnitude;
if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) {
max_velocity_magnitude = math::trajectory::computeMaxSpeedFromDistance(max_jerk,
max_decel, distance_to_curr_wp, 0.f);
} else if (PX4_ISFINITE(waypoint_transition_angle)) {
const float speed_reduction = math::constrain(miss_spd_gain * math::interpolate(M_PI_F - waypoint_transition_angle, 0.f,
M_PI_F, 0.f, 1.f), 0.f, 1.f);
max_velocity_magnitude = math::trajectory::computeMaxSpeedFromDistance(max_jerk, max_decel, distance_to_curr_wp,
max_speed * (1.f - speed_reduction));
}
velocity_magnitude = math::constrain(max_velocity_magnitude, -auto_speed, auto_speed);
}
return velocity_magnitude;
}
bool MecanumPosVelControl::runSanityChecks()
{
bool ret = true;
if (_param_ro_yaw_rate_limit.get() < FLT_EPSILON) {
ret = false;
}
if (_param_ro_speed_limit.get() < FLT_EPSILON) {
ret = false;
if (_prev_param_check_passed) {
events::send<float>(events::ID("mecanum_posVel_control_conf_invalid_speed_lim"), events::Log::Error,
"Invalid configuration of necessary parameter RO_SPEED_LIM", _param_ro_speed_limit.get());
}
}
if (_param_ro_max_thr_speed.get() < FLT_EPSILON && _param_ro_speed_p.get() < FLT_EPSILON) {
ret = false;
if (_prev_param_check_passed) {
events::send<float, float>(events::ID("mecanum_posVel_control_conf_invalid_speed_control"), events::Log::Error,
"Invalid configuration for speed control: Neither feed forward (RO_MAX_THR_SPD) nor feedback (RO_SPEED_P) is setup",
_param_ro_max_thr_speed.get(),
_param_ro_speed_p.get());
}
}
_prev_param_check_passed = ret;
return ret;
}

233
src/modules/rover_mecanum/MecanumPosVelControl/MecanumPosVelControl.hpp Normal file
View File

@ -0,0 +1,233 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
// PX4 includes
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/events.h>
// Libraries
#include <lib/rover_control/RoverControl.hpp>
#include <lib/pid/PID.hpp>
#include <matrix/matrix/math.hpp>
#include <lib/slew_rate/SlewRate.hpp>
#include <lib/pure_pursuit/PurePursuit.hpp>
#include <lib/geo/geo.h>
#include <math.h>
// uORB includes
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/rover_rate_setpoint.h>
#include <uORB/topics/rover_throttle_setpoint.h>
#include <uORB/topics/rover_velocity_status.h>
#include <uORB/topics/rover_attitude_setpoint.h>
#include <uORB/topics/rover_steering_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/trajectory_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/home_position.h>
using namespace matrix;
/**
* @brief Class for mecanum position/velocity control.
*/
class MecanumPosVelControl : public ModuleParams
{
public:
/**
* @brief Constructor for MecanumPosVelControl.
* @param parent The parent ModuleParams object.
*/
MecanumPosVelControl(ModuleParams *parent);
~MecanumPosVelControl() = default;
/**
* @brief Update position controller.
*/
void updatePosControl();
protected:
/**
* @brief Update the parameters of the module.
*/
void updateParams() override;
private:
/**
* @brief Update uORB subscriptions used in position controller.
*/
void updateSubscriptions();
/**
* @brief Generate and publish roverAttitudeSetpoint from manualControlSetpoint (Position Mode) or
* trajcetorySetpoint (Offboard position or velocity control) or
* positionSetpointTriplet (Auto Mode).
*/
void generateAttitudeSetpoint();
/**
* @brief Generate and publish roverThrottleSetpoint and roverAttitudeSetpoint or roverRateSetpoint from manualControlSetpoint.
*/
void manualPositionMode();
/**
* @brief Generate and publish roverAttitudeSetpoint from position of trajectorySetpoint.
*/
void offboardPositionMode();
/**
* @brief Generate and publish roverAttitudeSetpoint from velocity of trajectorySetpoint.
*/
void offboardVelocityMode();
/**
* @brief Generate and publish roverThrottleSetpoint and roverAttitudeSetpoint from positionSetpointTriplet.
*/
void autoPositionMode();
/**
* @brief Update uORB subscriptions used for auto modes.
*/
void updateAutoSubscriptions();
/**
* @brief Calculate the velocity magnitude setpoint. During waypoint transition the speed is restricted to
* Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN).
* On straight lines it is based on a speed trajectory such that the rover will arrive at the next waypoint transition
* with the desired waypoiny transition speed under consideration of the maximum deceleration and jerk.
* @param auto_speed Default auto speed [m/s].
* @param distance_to_curr_wp Distance to the current waypoint [m].
* @param max_decel Maximum allowed deceleration [m/s^2].
* @param max_jerk Maximum allowed jerk [m/s^3].
* @param waypoint_transition_angle Angle between the prevWP-currWP and currWP-nextWP line segments [rad]
* @param max_speed Maximum velocity magnitude setpoint [m/s]
* @param miss_spd_gain Tuning parameter for the speed reduction during waypoint transition.
* @param nav_state Vehicle navigation state
* @return Velocity magnitude setpoint [m/s].
*/
float calcVelocityMagnitude(float auto_speed, float distance_to_curr_wp, float max_decel, float max_jerk,
float waypoint_transition_angle, float max_speed, float miss_spd_gain, int nav_state);
/**
* @brief Check if the necessary parameters are set.
* @return True if all checks pass.
*/
bool runSanityChecks();
// uORB subscriptions
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _mission_result_sub{ORB_ID(mission_result)};
uORB::Subscription _home_position_sub{ORB_ID(home_position)};
uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
vehicle_control_mode_s _vehicle_control_mode{};
offboard_control_mode_s _offboard_control_mode{};
rover_steering_setpoint_s _rover_steering_setpoint{};
// uORB publications
uORB::Publication<rover_rate_setpoint_s> _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
uORB::Publication<rover_velocity_status_s> _rover_velocity_status_pub{ORB_ID(rover_velocity_status)};
uORB::Publication<position_controller_status_s> _position_controller_status_pub{ORB_ID(position_controller_status)};
// Variables
hrt_abstime _timestamp{0};
Quatf _vehicle_attitude_quaternion{};
Vector2d _home_position{};
Vector2f _curr_pos_ned{};
Vector2f _pos_ctl_course_direction{};
Vector2f _pos_ctl_start_position_ned{};
Vector2f _curr_wp_ned{};
Vector2f _prev_wp_ned{};
Vector2f _next_wp_ned{};
float _vehicle_speed_body_x{0.f};
float _vehicle_speed_body_y{0.f};
float _vehicle_yaw{0.f};
float _max_yaw_rate{0.f};
float _speed_body_x_setpoint{0.f};
float _speed_body_y_setpoint{0.f};
float _pos_ctl_yaw_setpoint{0.f}; // Yaw setpoint for manual position mode, NAN if yaw rate is manually controlled [rad]
float _dt{0.f};
float _auto_speed{0.f};
float _auto_yaw{0.f};
float _waypoint_transition_angle{0.f}; // Angle between the prevWP-currWP and currWP-nextWP line segments [rad]
int _nav_state{0};
bool _mission_finished{false};
bool _prev_param_check_passed{true};
// Controllers
PID _pid_speed_x;
PID _pid_speed_y;
SlewRate<float> _speed_x_setpoint;
SlewRate<float> _speed_y_setpoint;
// Class Instances
PurePursuit _posctl_pure_pursuit{this}; // Pure pursuit library
MapProjection _global_ned_proj_ref{}; // Transform global to NED coordinates
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RM_MISS_SPD_GAIN>) _param_rm_miss_spd_gain,
(ParamFloat<px4::params::RM_COURSE_CTL_TH>) _param_rm_course_ctl_th,
(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,
(ParamFloat<px4::params::RO_SPEED_P>) _param_ro_speed_p,
(ParamFloat<px4::params::RO_SPEED_I>) _param_ro_speed_i,
(ParamFloat<px4::params::RO_YAW_STICK_DZ>) _param_ro_yaw_stick_dz,
(ParamFloat<px4::params::RO_ACCEL_LIM>) _param_ro_accel_limit,
(ParamFloat<px4::params::RO_DECEL_LIM>) _param_ro_decel_limit,
(ParamFloat<px4::params::RO_JERK_LIM>) _param_ro_jerk_limit,
(ParamFloat<px4::params::RO_SPEED_LIM>) _param_ro_speed_limit,
(ParamFloat<px4::params::RO_SPEED_TH>) _param_ro_speed_th,
(ParamFloat<px4::params::PP_LOOKAHD_MAX>) _param_pp_lookahd_max,
(ParamFloat<px4::params::RO_YAW_RATE_LIM>) _param_ro_yaw_rate_limit,
(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad
)
};

10
src/modules/rover_mecanum/RoverMecanumControl/CMakeLists.txt → src/modules/rover_mecanum/MecanumRateControl/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2024 PX4 Development Team. All rights reserved.
# 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
@ -31,9 +31,9 @@
#
############################################################################
px4_add_library(RoverMecanumControl
RoverMecanumControl.cpp
px4_add_library(MecanumRateControl
MecanumRateControl.cpp
)
target_link_libraries(RoverMecanumControl PUBLIC PID)
target_include_directories(RoverMecanumControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(MecanumRateControl PUBLIC PID)
target_include_directories(MecanumRateControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

190
src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.cpp Normal file
View File

@ -0,0 +1,190 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#include "MecanumRateControl.hpp"
using namespace time_literals;
MecanumRateControl::MecanumRateControl(ModuleParams *parent) : ModuleParams(parent)
{
_rover_rate_setpoint_pub.advertise();
_rover_throttle_setpoint_pub.advertise();
_rover_steering_setpoint_pub.advertise();
_rover_rate_status_pub.advertise();
updateParams();
}
void MecanumRateControl::updateParams()
{
ModuleParams::updateParams();
_max_yaw_rate = _param_ro_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
_max_yaw_accel = _param_ro_yaw_accel_limit.get() * M_DEG_TO_RAD_F;
_max_yaw_decel = _param_ro_yaw_decel_limit.get() * M_DEG_TO_RAD_F;
_pid_yaw_rate.setGains(_param_ro_yaw_rate_p.get(), _param_ro_yaw_rate_i.get(), 0.f);
_pid_yaw_rate.setIntegralLimit(1.f);
_pid_yaw_rate.setOutputLimit(1.f);
_adjusted_yaw_rate_setpoint.setSlewRate(_max_yaw_accel);
}
void MecanumRateControl::updateRateControl()
{
const hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
_dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
if (_vehicle_control_mode_sub.updated()) {
_vehicle_control_mode_sub.copy(&_vehicle_control_mode);
}
if (_vehicle_angular_velocity_sub.updated()) {
vehicle_angular_velocity_s vehicle_angular_velocity{};
_vehicle_angular_velocity_sub.copy(&vehicle_angular_velocity);
_vehicle_yaw_rate = fabsf(vehicle_angular_velocity.xyz[2]) > _param_ro_yaw_rate_th.get() * M_DEG_TO_RAD_F ?
vehicle_angular_velocity.xyz[2] : 0.f;
}
if (_vehicle_control_mode.flag_control_rates_enabled && _vehicle_control_mode.flag_armed && runSanityChecks()) {
if (_vehicle_control_mode.flag_control_manual_enabled || _vehicle_control_mode.flag_control_offboard_enabled) {
generateRateSetpoint();
}
generateSteeringSetpoint();
} else { // Reset controller and slew rate when rate control is not active
_pid_yaw_rate.resetIntegral();
_adjusted_yaw_rate_setpoint.setForcedValue(0.f);
}
// Publish rate controller status (logging only)
rover_rate_status_s rover_rate_status;
rover_rate_status.timestamp = _timestamp;
rover_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
rover_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
rover_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
_rover_rate_status_pub.publish(rover_rate_status);
}
void MecanumRateControl::generateRateSetpoint()
{
const bool acro_mode_enabled = _vehicle_control_mode.flag_control_manual_enabled
&& !_vehicle_control_mode.flag_control_position_enabled && !_vehicle_control_mode.flag_control_attitude_enabled;
if (acro_mode_enabled && _manual_control_setpoint_sub.updated()) { // Acro Mode
manual_control_setpoint_s manual_control_setpoint{};
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
rover_throttle_setpoint_s rover_throttle_setpoint{};
rover_throttle_setpoint.timestamp = _timestamp;
rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
rover_throttle_setpoint.throttle_body_y = manual_control_setpoint.roll;
_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
rover_rate_setpoint_s rover_rate_setpoint{};
rover_rate_setpoint.timestamp = _timestamp;
rover_rate_setpoint.yaw_rate_setpoint = math::interpolate<float> (manual_control_setpoint.yaw, -1.f, 1.f,
-_max_yaw_rate, _max_yaw_rate);
_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
}
} else if (_vehicle_control_mode.flag_control_offboard_enabled) { // Offboard rate control
trajectory_setpoint_s trajectory_setpoint{};
_trajectory_setpoint_sub.copy(&trajectory_setpoint);
if (_offboard_control_mode_sub.updated()) {
_offboard_control_mode_sub.copy(&_offboard_control_mode);
}
const bool offboard_rate_control = _offboard_control_mode.body_rate && !_offboard_control_mode.attitude;
if (offboard_rate_control && PX4_ISFINITE(trajectory_setpoint.yawspeed)) {
rover_rate_setpoint_s rover_rate_setpoint{};
rover_rate_setpoint.timestamp = _timestamp;
rover_rate_setpoint.yaw_rate_setpoint = trajectory_setpoint.yawspeed;
_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
}
}
}
void MecanumRateControl::generateSteeringSetpoint()
{
if (_rover_rate_setpoint_sub.updated()) {
_rover_rate_setpoint_sub.copy(&_rover_rate_setpoint);
}
float speed_diff_normalized{0.f};
if (PX4_ISFINITE(_rover_rate_setpoint.yaw_rate_setpoint) && PX4_ISFINITE(_vehicle_yaw_rate)) {
const float yaw_rate_setpoint = fabsf(_rover_rate_setpoint.yaw_rate_setpoint) > _param_ro_yaw_rate_th.get() *
M_DEG_TO_RAD_F ?
_rover_rate_setpoint.yaw_rate_setpoint : 0.f;
speed_diff_normalized = RoverControl::rateControl(_adjusted_yaw_rate_setpoint, _pid_yaw_rate,
yaw_rate_setpoint, _vehicle_yaw_rate, _param_rm_max_thr_yaw_r.get(), _max_yaw_accel,
_max_yaw_decel, _param_rm_wheel_track.get(), _dt);
}
rover_steering_setpoint_s rover_steering_setpoint{};
rover_steering_setpoint.timestamp = _timestamp;
rover_steering_setpoint.normalized_speed_diff = speed_diff_normalized;
_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
}
bool MecanumRateControl::runSanityChecks()
{
bool ret = true;
if (_param_ro_yaw_rate_limit.get() < FLT_EPSILON) {
ret = false;
if (_prev_param_check_passed) {
events::send<float>(events::ID("mecanum_rate_control_conf_invalid_yaw_rate_lim"), events::Log::Error,
"Invalid configuration of necessary parameter RO_YAW_RATE_LIM", _param_ro_yaw_rate_limit.get());
}
}
if ((_param_rm_wheel_track.get() < FLT_EPSILON || _param_rm_max_thr_yaw_r.get() < FLT_EPSILON)
&& _param_ro_yaw_rate_p.get() < FLT_EPSILON) {
ret = false;
if (_prev_param_check_passed) {
events::send<float, float, float>(events::ID("mecanum_rate_control_conf_invalid_rate_control"), events::Log::Error,
"Invalid configuration for rate control: Neither feed forward (RM_MAX_THR_YAW_R) nor feedback (RO_YAW_RATE_P) is setup",
_param_rm_wheel_track.get(),
_param_rm_max_thr_yaw_r.get(), _param_ro_yaw_rate_p.get());
}
}
_prev_param_check_passed = ret;
return ret;
}

144
src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.hpp Normal file
View File

@ -0,0 +1,144 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
// PX4 includes
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/events.h>
// Libraries
#include <lib/rover_control/RoverControl.hpp>
#include <lib/pid/PID.hpp>
#include <lib/slew_rate/SlewRate.hpp>
#include <math.h>
// uORB includes
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/rover_rate_setpoint.h>
#include <uORB/topics/rover_throttle_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/rover_steering_setpoint.h>
#include <uORB/topics/rover_rate_status.h>
#include <uORB/topics/actuator_motors.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/trajectory_setpoint.h>
/**
* @brief Class for mecanum rate control.
*/
class MecanumRateControl : public ModuleParams
{
public:
/**
* @brief Constructor for MecanumRateControl.
* @param parent The parent ModuleParams object.
*/
MecanumRateControl(ModuleParams *parent);
~MecanumRateControl() = default;
/**
* @brief Update rate controller.
*/
void updateRateControl();
protected:
/**
* @brief Update the parameters of the module.
*/
void updateParams() override;
private:
/**
* @brief Generate and publish roverRateSetpoint from manualControlSetpoint (Acro Mode)
* or trajectorySetpoint (Offboard rate control).
*/
void generateRateSetpoint();
/**
* @brief Generate and publish roverSteeringSetpoint from RoverRateSetpoint.
*/
void generateSteeringSetpoint();
/**
* @brief Check if the necessary parameters are set.
* @return True if all checks pass.
*/
bool runSanityChecks();
// uORB subscriptions
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
uORB::Subscription _rover_rate_setpoint_sub{ORB_ID(rover_rate_setpoint)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
vehicle_control_mode_s _vehicle_control_mode{};
offboard_control_mode_s _offboard_control_mode{};
rover_rate_setpoint_s _rover_rate_setpoint{};
// uORB publications
uORB::Publication<rover_rate_setpoint_s> _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
uORB::Publication<rover_rate_status_s> _rover_rate_status_pub{ORB_ID(rover_rate_status)};
// Variables
hrt_abstime _timestamp{0};
float _max_yaw_rate{0.f};
float _max_yaw_accel{0.f};
float _max_yaw_decel{0.f};
float _vehicle_yaw_rate{0.f};
float _dt{0.f}; // Time since last update [s].
bool _prev_param_check_passed{true};
// Controllers
PID _pid_yaw_rate;
SlewRate<float> _adjusted_yaw_rate_setpoint{0.f};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RM_WHEEL_TRACK>) _param_rm_wheel_track,
(ParamFloat<px4::params::RM_MAX_THR_YAW_R>) _param_rm_max_thr_yaw_r,
(ParamFloat<px4::params::RO_YAW_RATE_LIM>) _param_ro_yaw_rate_limit,
(ParamFloat<px4::params::RO_YAW_RATE_TH>) _param_ro_yaw_rate_th,
(ParamFloat<px4::params::RO_YAW_RATE_P>) _param_ro_yaw_rate_p,
(ParamFloat<px4::params::RO_YAW_RATE_I>) _param_ro_yaw_rate_i,
(ParamFloat<px4::params::RO_YAW_ACCEL_LIM>) _param_ro_yaw_accel_limit,
(ParamFloat<px4::params::RO_YAW_DECEL_LIM>) _param_ro_yaw_decel_limit
)
};

344
src/modules/rover_mecanum/RoverMecanum.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
* 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
@ -32,15 +32,16 @@
****************************************************************************/
#include "RoverMecanum.hpp"
using namespace matrix;
using namespace time_literals;
RoverMecanum::RoverMecanum() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
{
_rover_throttle_setpoint_pub.advertise();
_rover_steering_setpoint_pub.advertise();
updateParams();
_rover_mecanum_setpoint_pub.advertise();
}
bool RoverMecanum::init()
@ -53,266 +54,117 @@ void RoverMecanum::updateParams()
{
ModuleParams::updateParams();
_max_yaw_rate = _param_rm_max_yaw_rate.get() * M_DEG_TO_RAD_F;
if (_param_ro_accel_limit.get() > FLT_EPSILON && _param_ro_max_thr_speed.get() > FLT_EPSILON) {
_throttle_body_x_setpoint.setSlewRate(_param_ro_accel_limit.get() / _param_ro_max_thr_speed.get());
_throttle_body_y_setpoint.setSlewRate(_param_ro_accel_limit.get() / _param_ro_max_thr_speed.get());
}
}
void RoverMecanum::Run()
{
if (should_exit()) {
ScheduleClear();
exit_and_cleanup();
return;
}
updateSubscriptions();
// Generate and publish attitude and velocity setpoints
hrt_abstime timestamp = hrt_absolute_time();
switch (_nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL: {
manual_control_setpoint_s manual_control_setpoint{};
rover_mecanum_setpoint_s rover_mecanum_setpoint{};
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
rover_mecanum_setpoint.timestamp = timestamp;
rover_mecanum_setpoint.forward_speed_setpoint = NAN;
rover_mecanum_setpoint.forward_speed_setpoint_normalized = manual_control_setpoint.throttle;
rover_mecanum_setpoint.lateral_speed_setpoint = NAN;
rover_mecanum_setpoint.lateral_speed_setpoint_normalized = manual_control_setpoint.roll;
rover_mecanum_setpoint.yaw_rate_setpoint = NAN;
if (_max_yaw_rate > FLT_EPSILON && _param_rm_max_thr_yaw_r.get() > FLT_EPSILON) {
const float scaled_yaw_rate_input = math::interpolate<float>(manual_control_setpoint.yaw,
-1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);
const float speed_diff = scaled_yaw_rate_input * _param_rm_wheel_track.get() / 2.f;
rover_mecanum_setpoint.speed_diff_setpoint_normalized = math::interpolate<float>(speed_diff,
-_param_rm_max_thr_yaw_r.get(), _param_rm_max_thr_yaw_r.get(), -1.f, 1.f);
} else {
rover_mecanum_setpoint.speed_diff_setpoint_normalized = manual_control_setpoint.yaw;
}
rover_mecanum_setpoint.yaw_setpoint = NAN;
_rover_mecanum_setpoint_pub.publish(rover_mecanum_setpoint);
}
} break;
case vehicle_status_s::NAVIGATION_STATE_ACRO: {
manual_control_setpoint_s manual_control_setpoint{};
rover_mecanum_setpoint_s rover_mecanum_setpoint{};
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
rover_mecanum_setpoint.timestamp = timestamp;
rover_mecanum_setpoint.forward_speed_setpoint = NAN;
rover_mecanum_setpoint.forward_speed_setpoint_normalized = manual_control_setpoint.throttle;
rover_mecanum_setpoint.lateral_speed_setpoint = NAN;
rover_mecanum_setpoint.lateral_speed_setpoint_normalized = manual_control_setpoint.roll;
rover_mecanum_setpoint.yaw_rate_setpoint = math::interpolate<float>(manual_control_setpoint.yaw,
-1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);
rover_mecanum_setpoint.speed_diff_setpoint_normalized = NAN;
rover_mecanum_setpoint.yaw_setpoint = NAN;
_rover_mecanum_setpoint_pub.publish(rover_mecanum_setpoint);
}
} break;
case vehicle_status_s::NAVIGATION_STATE_STAB: {
manual_control_setpoint_s manual_control_setpoint{};
rover_mecanum_setpoint_s rover_mecanum_setpoint{};
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
rover_mecanum_setpoint.timestamp = timestamp;
rover_mecanum_setpoint.forward_speed_setpoint = NAN;
rover_mecanum_setpoint.forward_speed_setpoint_normalized = manual_control_setpoint.throttle;
rover_mecanum_setpoint.lateral_speed_setpoint = NAN;
rover_mecanum_setpoint.lateral_speed_setpoint_normalized = manual_control_setpoint.roll;
rover_mecanum_setpoint.yaw_rate_setpoint = math::interpolate<float>(math::deadzone(manual_control_setpoint.yaw,
STICK_DEADZONE),
-1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);
rover_mecanum_setpoint.speed_diff_setpoint_normalized = NAN;
rover_mecanum_setpoint.yaw_setpoint = NAN;
if (fabsf(rover_mecanum_setpoint.yaw_rate_setpoint) > FLT_EPSILON
|| (fabsf(rover_mecanum_setpoint.forward_speed_setpoint_normalized) < FLT_EPSILON
&& fabsf(rover_mecanum_setpoint.lateral_speed_setpoint_normalized) < FLT_EPSILON)) { // Closed loop yaw rate control
_yaw_ctl = false;
} else { // Closed loop yaw control
if (!_yaw_ctl) {
_desired_yaw = _vehicle_yaw;
_yaw_ctl = true;
}
rover_mecanum_setpoint.yaw_setpoint = _desired_yaw;
rover_mecanum_setpoint.yaw_rate_setpoint = NAN;
}
_rover_mecanum_setpoint_pub.publish(rover_mecanum_setpoint);
}
} break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL: {
manual_control_setpoint_s manual_control_setpoint{};
rover_mecanum_setpoint_s rover_mecanum_setpoint{};
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
rover_mecanum_setpoint.timestamp = timestamp;
rover_mecanum_setpoint.forward_speed_setpoint = math::interpolate<float>(manual_control_setpoint.throttle,
-1.f, 1.f, -_param_rm_max_speed.get(), _param_rm_max_speed.get());;
rover_mecanum_setpoint.forward_speed_setpoint_normalized = NAN;
rover_mecanum_setpoint.lateral_speed_setpoint = math::interpolate<float>(manual_control_setpoint.roll,
-1.f, 1.f, -_param_rm_max_speed.get(), _param_rm_max_speed.get());
rover_mecanum_setpoint.lateral_speed_setpoint_normalized = NAN;
rover_mecanum_setpoint.yaw_rate_setpoint = math::interpolate<float>(math::deadzone(manual_control_setpoint.yaw,
STICK_DEADZONE),
-1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);
rover_mecanum_setpoint.speed_diff_setpoint_normalized = NAN;
rover_mecanum_setpoint.yaw_setpoint = NAN;
// Reset cruise control if the manual input changes
if (_yaw_ctl && (!(fabsf(manual_control_setpoint.throttle - _prev_throttle) > STICK_DEADZONE)
|| !(fabsf(manual_control_setpoint.roll - _prev_roll) > STICK_DEADZONE))) {
_yaw_ctl = false;
_prev_throttle = manual_control_setpoint.throttle;
_prev_roll = manual_control_setpoint.roll;
} else if (!_yaw_ctl) {
_prev_throttle = manual_control_setpoint.throttle;
_prev_roll = manual_control_setpoint.roll;
}
if (fabsf(rover_mecanum_setpoint.yaw_rate_setpoint) > FLT_EPSILON
|| (fabsf(rover_mecanum_setpoint.forward_speed_setpoint) < FLT_EPSILON
&& fabsf(rover_mecanum_setpoint.lateral_speed_setpoint) < FLT_EPSILON)) { // Closed loop yaw rate control
rover_mecanum_setpoint.yaw_rate_setpoint = math::interpolate<float>(manual_control_setpoint.yaw,
-1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);
rover_mecanum_setpoint.yaw_setpoint = NAN;
_yaw_ctl = false;
} else { // Cruise control
const Vector3f velocity = Vector3f(rover_mecanum_setpoint.forward_speed_setpoint,
rover_mecanum_setpoint.lateral_speed_setpoint, 0.f);
const float desired_velocity_magnitude = velocity.norm();
if (!_yaw_ctl) {
_desired_yaw = _vehicle_yaw;
_yaw_ctl = true;
_pos_ctl_start_position_ned = _curr_pos_ned;
const Vector3f pos_ctl_course_direction_local = _vehicle_attitude_quaternion.rotateVector(velocity.normalized());
_pos_ctl_course_direction = Vector2f(pos_ctl_course_direction_local(0), pos_ctl_course_direction_local(1));
}
// Construct a 'target waypoint' for course control s.t. it is never within the maximum lookahead of the rover
const float vector_scaling = sqrtf(powf(_param_pp_lookahd_max.get(),
2) + powf(_posctl_pure_pursuit.getCrosstrackError(), 2)) + _posctl_pure_pursuit.getDistanceOnLineSegment();
const Vector2f target_waypoint_ned = _pos_ctl_start_position_ned + vector_scaling * _pos_ctl_course_direction;
const float desired_heading = _posctl_pure_pursuit.calcDesiredHeading(target_waypoint_ned, _pos_ctl_start_position_ned,
_curr_pos_ned, desired_velocity_magnitude);
const float heading_error = matrix::wrap_pi(desired_heading - _vehicle_yaw);
const Vector2f desired_velocity = desired_velocity_magnitude * Vector2f(cosf(heading_error), sinf(heading_error));
rover_mecanum_setpoint.forward_speed_setpoint = desired_velocity(0);
rover_mecanum_setpoint.lateral_speed_setpoint = desired_velocity(1);
rover_mecanum_setpoint.yaw_setpoint = _desired_yaw;
rover_mecanum_setpoint.yaw_rate_setpoint = NAN;
}
_rover_mecanum_setpoint_pub.publish(rover_mecanum_setpoint);
}
} break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
_rover_mecanum_guidance.computeGuidance(_vehicle_yaw, _nav_state);
break;
default: // Unimplemented nav states will stop the rover
rover_mecanum_setpoint_s rover_mecanum_setpoint{};
rover_mecanum_setpoint.timestamp = timestamp;
rover_mecanum_setpoint.forward_speed_setpoint = NAN;
rover_mecanum_setpoint.forward_speed_setpoint_normalized = 0.f;
rover_mecanum_setpoint.lateral_speed_setpoint = NAN;
rover_mecanum_setpoint.lateral_speed_setpoint_normalized = 0.f;
rover_mecanum_setpoint.yaw_rate_setpoint = NAN;
rover_mecanum_setpoint.speed_diff_setpoint_normalized = 0.f;
rover_mecanum_setpoint.yaw_setpoint = NAN;
_rover_mecanum_setpoint_pub.publish(rover_mecanum_setpoint);
break;
}
if (!_armed) { // Reset when disarmed
_rover_mecanum_control.resetControllers();
_yaw_ctl = false;
}
_rover_mecanum_control.computeMotorCommands(_vehicle_yaw, _vehicle_yaw_rate, _vehicle_forward_speed,
_vehicle_lateral_speed);
}
void RoverMecanum::updateSubscriptions()
{
if (_parameter_update_sub.updated()) {
parameter_update_s parameter_update;
_parameter_update_sub.copy(&parameter_update);
updateParams();
}
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
const hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
_dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
if (vehicle_status.nav_state != _nav_state) {
_rover_mecanum_control.resetControllers();
_yaw_ctl = false;
_mecanum_pos_vel_control.updatePosControl();
_mecanum_att_control.updateAttControl();
_mecanum_rate_control.updateRateControl();
if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) {
_rover_mecanum_guidance.setDesiredYaw(_vehicle_yaw);
}
}
_nav_state = vehicle_status.nav_state;
_armed = vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED;
if (_vehicle_control_mode_sub.updated()) {
_vehicle_control_mode_sub.copy(&_vehicle_control_mode);
}
if (_vehicle_local_position_sub.updated()) {
vehicle_local_position_s vehicle_local_position{};
_vehicle_local_position_sub.copy(&vehicle_local_position);
_curr_pos_ned = Vector2f(vehicle_local_position.x, vehicle_local_position.y);
Vector3f velocity_in_local_frame(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame);
// Apply threshold to the velocity measurement to cut off measurement noise when standing still
_vehicle_forward_speed = fabsf(velocity_in_body_frame(0)) > SPEED_THRESHOLD ? velocity_in_body_frame(0) : 0.f;
_vehicle_lateral_speed = fabsf(velocity_in_body_frame(1)) > SPEED_THRESHOLD ? velocity_in_body_frame(1) : 0.f;
const bool full_manual_mode_enabled = _vehicle_control_mode.flag_control_manual_enabled
&& !_vehicle_control_mode.flag_control_position_enabled && !_vehicle_control_mode.flag_control_attitude_enabled
&& !_vehicle_control_mode.flag_control_rates_enabled;
if (full_manual_mode_enabled) { // Manual mode
generateSteeringSetpoint();
}
if (_vehicle_angular_velocity_sub.updated()) {
vehicle_angular_velocity_s vehicle_angular_velocity{};
_vehicle_angular_velocity_sub.copy(&vehicle_angular_velocity);
// Apply threshold to the yaw rate measurement if the rover is standing still to avoid stuttering due to closed loop yaw(rate) control
if ((fabsf(_vehicle_forward_speed) > FLT_EPSILON && fabsf(_vehicle_lateral_speed) > FLT_EPSILON)
|| fabsf(vehicle_angular_velocity.xyz[2]) > YAW_RATE_THRESHOLD) {
_vehicle_yaw_rate = vehicle_angular_velocity.xyz[2];
} else {
_vehicle_yaw_rate = 0.f;
}
if (_vehicle_control_mode.flag_armed) {
generateActuatorSetpoint();
}
if (_vehicle_attitude_sub.updated()) {
vehicle_attitude_s vehicle_attitude{};
_vehicle_attitude_sub.copy(&vehicle_attitude);
_vehicle_attitude_quaternion = matrix::Quatf(vehicle_attitude.q);
_vehicle_yaw = matrix::Eulerf(_vehicle_attitude_quaternion).psi();
}
void RoverMecanum::generateSteeringSetpoint()
{
manual_control_setpoint_s manual_control_setpoint{};
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
rover_steering_setpoint_s rover_steering_setpoint{};
rover_steering_setpoint.timestamp = _timestamp;
rover_steering_setpoint.normalized_speed_diff = manual_control_setpoint.yaw;
_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
rover_throttle_setpoint_s rover_throttle_setpoint{};
rover_throttle_setpoint.timestamp = _timestamp;
rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
rover_throttle_setpoint.throttle_body_y = manual_control_setpoint.roll;
_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
}
}
void RoverMecanum::generateActuatorSetpoint()
{
if (_rover_throttle_setpoint_sub.updated()) {
_rover_throttle_setpoint_sub.copy(&_rover_throttle_setpoint);
}
if (_actuator_motors_sub.updated()) {
actuator_motors_s actuator_motors{};
_actuator_motors_sub.copy(&actuator_motors);
_current_throttle_body_x = (actuator_motors.control[0] + actuator_motors.control[1]) / 2.f;
_current_throttle_body_y = (actuator_motors.control[2] - actuator_motors.control[0]) / 2.f;
}
if (_rover_steering_setpoint_sub.updated()) {
_rover_steering_setpoint_sub.copy(&_rover_steering_setpoint);
}
const float throttle_body_x = RoverControl::throttleControl(_throttle_body_x_setpoint,
_rover_throttle_setpoint.throttle_body_x, _current_throttle_body_x, _param_ro_accel_limit.get(),
_param_ro_decel_limit.get(), _param_ro_max_thr_speed.get(), _dt);
const float throttle_body_y = RoverControl::throttleControl(_throttle_body_y_setpoint,
_rover_throttle_setpoint.throttle_body_y, _current_throttle_body_y, _param_ro_accel_limit.get(),
_param_ro_decel_limit.get(), _param_ro_max_thr_speed.get(), _dt);
actuator_motors_s actuator_motors{};
actuator_motors.reversible_flags = _param_r_rev.get();
computeInverseKinematics(throttle_body_x, throttle_body_y,
_rover_steering_setpoint.normalized_speed_diff).copyTo(actuator_motors.control);
actuator_motors.timestamp = _timestamp;
_actuator_motors_pub.publish(actuator_motors);
}
Vector4f RoverMecanum::computeInverseKinematics(float throttle_body_x, float throttle_body_y,
const float speed_diff_normalized)
{
const float total_speed = fabsf(throttle_body_x) + fabsf(throttle_body_y) + fabsf(speed_diff_normalized);
if (total_speed > 1.f) { // Adjust speed setpoints if infeasible
const float theta = atan2f(fabsf(throttle_body_y), fabsf(throttle_body_x));
const float magnitude = (1.f - fabsf(speed_diff_normalized)) / (sinf(theta) + cosf(theta));
const float normalization = 1.f / (sqrtf(powf(throttle_body_x, 2.f) + powf(throttle_body_y, 2.f)));
throttle_body_x *= magnitude * normalization;
throttle_body_y *= magnitude * normalization;
}
// Calculate motor commands
const float input_data[3] = {throttle_body_x, throttle_body_y, speed_diff_normalized};
const Matrix<float, 3, 1> input(input_data);
const float m_data[12] = {1.f, -1.f, -1.f, 1.f, 1.f, 1.f, 1.f, 1.f, -1.f, 1.f, -1.f, 1.f};
const Matrix<float, 4, 3> m(m_data);
const Vector4f motor_commands = m * input;
return motor_commands;
}
int RoverMecanum::task_spawn(int argc, char *argv[])
@ -340,7 +192,7 @@ int RoverMecanum::task_spawn(int argc, char *argv[])
int RoverMecanum::custom_command(int argc, char *argv[])
{
return print_usage("unk_timestampn command");
return print_usage("unknown command");
}
int RoverMecanum::print_usage(const char *reason)
@ -352,7 +204,7 @@ int RoverMecanum::print_usage(const char *reason)
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Rover Mecanum controller.
Rover mecanum module.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("rover_mecanum", "controller");

126
src/modules/rover_mecanum/RoverMecanum.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
* 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
@ -39,41 +39,34 @@
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/pure_pursuit/PurePursuit.hpp>
// Libraries
#include <lib/rover_control/RoverControl.hpp>
#include <lib/slew_rate/SlewRate.hpp>
// uORB includes
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/rover_mecanum_setpoint.h>
// Standard libraries
#include <lib/pid/PID.hpp>
#include <matrix/matrix/math.hpp>
#include <uORB/topics/actuator_motors.h>
#include <uORB/topics/rover_steering_setpoint.h>
#include <uORB/topics/rover_throttle_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/manual_control_setpoint.h>
// Local includes
#include "RoverMecanumGuidance/RoverMecanumGuidance.hpp"
#include "RoverMecanumControl/RoverMecanumControl.hpp"
// Constants
static constexpr float YAW_RATE_THRESHOLD =
0.02f; // [rad/s] Threshold for the yaw rate measurement to avoid stuttering when the rover is standing still
static constexpr float SPEED_THRESHOLD =
0.1f; // [m/s] Threshold for the speed measurement to cut off measurement noise when the rover is standing still
static constexpr float STICK_DEADZONE =
0.1f; // [0, 1] Percentage of stick input range that will be interpreted as zero around the stick centered value
using namespace time_literals;
#include "MecanumRateControl/MecanumRateControl.hpp"
#include "MecanumAttControl/MecanumAttControl.hpp"
#include "MecanumPosVelControl/MecanumPosVelControl.hpp"
class RoverMecanum : public ModuleBase<RoverMecanum>, public ModuleParams,
public px4::ScheduledWorkItem
{
public:
/**
* @brief Constructor for RoverMecanum
*/
RoverMecanum();
~RoverMecanum() override = default;
@ -89,54 +82,69 @@ public:
bool init();
protected:
/**
* @brief Update the parameters of the module.
*/
void updateParams() override;
private:
void Run() override;
/**
* @brief Update uORB subscriptions.
* @brief Generate and publish roverSteeringSetpoint from manualControlSetpoint (Manual Mode).
*/
void updateSubscriptions();
void generateSteeringSetpoint();
// uORB Subscriptions
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
/**
* @brief Generate and publish actuatorMotors setpoints from roverThrottleSetpoint/roverSteeringSetpoint.
*/
void generateActuatorSetpoint();
/**
* @brief Compute normalized motor commands based on normalized setpoints.
* @param throttle_body_x Normalized speed in body x direction [-1, 1].
* @param throttle_body_y Normalized speed in body y direction [-1, 1].
* @param speed_diff_normalized Speed difference between left and right wheels [-1, 1].
* @return Motor speeds [-1, 1].
*/
Vector4f computeInverseKinematics(float throttle_body_x, float throttle_body_y, const float speed_diff_normalized);
// uORB subscriptions
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
uORB::Subscription _rover_throttle_setpoint_sub{ORB_ID(rover_throttle_setpoint)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
vehicle_control_mode_s _vehicle_control_mode{};
rover_steering_setpoint_s _rover_steering_setpoint{};
rover_throttle_setpoint_s _rover_throttle_setpoint{};
// uORB Publications
uORB::Publication<rover_mecanum_setpoint_s> _rover_mecanum_setpoint_pub{ORB_ID(rover_mecanum_setpoint)};
// uORB publications
uORB::PublicationMulti<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
// Instances
RoverMecanumGuidance _rover_mecanum_guidance{this};
RoverMecanumControl _rover_mecanum_control{this};
PurePursuit _posctl_pure_pursuit{this}; // Pure pursuit library
// Class instances
MecanumRateControl _mecanum_rate_control{this};
MecanumAttControl _mecanum_att_control{this};
MecanumPosVelControl _mecanum_pos_vel_control{this};
// Variables
matrix::Quatf _vehicle_attitude_quaternion{};
float _vehicle_yaw_rate{0.f};
float _vehicle_forward_speed{0.f};
float _vehicle_lateral_speed{0.f};
float _vehicle_yaw{0.f};
float _max_yaw_rate{0.f};
int _nav_state{0};
bool _yaw_ctl{false}; // Indicates if the rover is doing yaw or yaw rate control in position mode
float _desired_yaw{0.f}; // Yaw setpoint for position mode
Vector2f _pos_ctl_start_position_ned{};
Vector2f _pos_ctl_course_direction{};
Vector2f _curr_pos_ned{};
float _prev_throttle{0.f};
float _prev_roll{0.f};
bool _armed{false};
hrt_abstime _timestamp{0};
float _dt{0.f};
float _current_throttle_body_x{0.f};
float _current_throttle_body_y{0.f};
// Controllers
SlewRate<float> _throttle_body_x_setpoint{0.f};
SlewRate<float> _throttle_body_y_setpoint{0.f};
// Parameters
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RM_MAX_SPEED>) _param_rm_max_speed,
(ParamFloat<px4::params::RM_WHEEL_TRACK>) _param_rm_wheel_track,
(ParamFloat<px4::params::RM_MAX_THR_YAW_R>) _param_rm_max_thr_yaw_r,
(ParamFloat<px4::params::RM_MAX_YAW_RATE>) _param_rm_max_yaw_rate,
(ParamFloat<px4::params::PP_LOOKAHD_MAX>) _param_pp_lookahd_max
(ParamInt<px4::params::CA_R_REV>) _param_r_rev,
(ParamFloat<px4::params::RO_ACCEL_LIM>) _param_ro_accel_limit,
(ParamFloat<px4::params::RO_DECEL_LIM>) _param_ro_decel_limit,
(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed
)
};

323
src/modules/rover_mecanum/RoverMecanumControl/RoverMecanumControl.cpp
View File

@ -1,323 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2023-2024 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 "RoverMecanumControl.hpp"
#include <mathlib/math/Limits.hpp>
using namespace matrix;
using namespace time_literals;
RoverMecanumControl::RoverMecanumControl(ModuleParams *parent) : ModuleParams(parent)
{
updateParams();
_rover_mecanum_status_pub.advertise();
}
void RoverMecanumControl::updateParams()
{
ModuleParams::updateParams();
_pid_yaw_rate.setGains(_param_rm_yaw_rate_p.get(), _param_rm_yaw_rate_i.get(), 0.f);
_pid_yaw_rate.setIntegralLimit(1.f);
_pid_yaw_rate.setOutputLimit(1.f);
_pid_forward_throttle.setGains(_param_rm_p_gain_speed.get(), _param_rm_i_gain_speed.get(), 0.f);
_pid_forward_throttle.setIntegralLimit(1.f);
_pid_forward_throttle.setOutputLimit(1.f);
_pid_lateral_throttle.setGains(_param_rm_p_gain_speed.get(), _param_rm_i_gain_speed.get(), 0.f);
_pid_lateral_throttle.setIntegralLimit(1.f);
_pid_lateral_throttle.setOutputLimit(1.f);
_max_yaw_rate = _param_rm_max_yaw_rate.get() * M_DEG_TO_RAD_F;
_max_yaw_accel = _param_rm_max_yaw_accel.get() * M_DEG_TO_RAD_F;
_pid_yaw.setGains(_param_rm_p_gain_yaw.get(), _param_rm_i_gain_yaw.get(), 0.f);
_pid_yaw.setIntegralLimit(_max_yaw_rate);
_pid_yaw.setOutputLimit(_max_yaw_rate);
// Update slew rates
if (_max_yaw_rate > FLT_EPSILON) {
_yaw_setpoint_with_yaw_rate_limit.setSlewRate(_max_yaw_rate);
}
if (_max_yaw_accel > FLT_EPSILON) {
_yaw_rate_with_accel_limit.setSlewRate(_max_yaw_accel);
}
}
void RoverMecanumControl::computeMotorCommands(const float vehicle_yaw, const float vehicle_yaw_rate,
const float vehicle_forward_speed, const float vehicle_lateral_speed)
{
// Timestamps
hrt_abstime timestamp_prev = _timestamp;
_timestamp = hrt_absolute_time();
const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
// Update mecanum setpoint
_rover_mecanum_setpoint_sub.update(&_rover_mecanum_setpoint);
// Closed loop yaw control
if (PX4_ISFINITE(_rover_mecanum_setpoint.yaw_setpoint)) {
_yaw_setpoint_with_yaw_rate_limit.update(matrix::wrap_pi(_rover_mecanum_setpoint.yaw_setpoint), dt);
_rover_mecanum_status.adjusted_yaw_setpoint = matrix::wrap_pi(_yaw_setpoint_with_yaw_rate_limit.getState());
_pid_yaw.setSetpoint(
matrix::wrap_pi(_yaw_setpoint_with_yaw_rate_limit.getState() -
vehicle_yaw)); // error as setpoint to take care of wrapping
_rover_mecanum_setpoint.yaw_rate_setpoint = _pid_yaw.update(0.f, dt);
_rover_mecanum_status.clyaw_yaw_rate_setpoint = _rover_mecanum_setpoint.yaw_rate_setpoint;
} else {
_pid_yaw.resetIntegral();
_yaw_setpoint_with_yaw_rate_limit.setForcedValue(vehicle_yaw);
}
// Yaw rate control
float speed_diff_normalized{0.f};
if (PX4_ISFINITE(_rover_mecanum_setpoint.yaw_rate_setpoint)) { // Closed loop yaw rate control
speed_diff_normalized = calcNormalizedSpeedDiff(_rover_mecanum_setpoint.yaw_rate_setpoint, vehicle_yaw_rate,
_param_rm_max_thr_yaw_r.get(), _max_yaw_accel, _param_rm_wheel_track.get(), dt, _yaw_rate_with_accel_limit,
_pid_yaw_rate, false);
_rover_mecanum_status.adjusted_yaw_rate_setpoint = _yaw_rate_with_accel_limit.getState();
} else { // Use normalized setpoint
speed_diff_normalized = calcNormalizedSpeedDiff(_rover_mecanum_setpoint.speed_diff_setpoint_normalized,
vehicle_yaw_rate,
_param_rm_max_thr_yaw_r.get(), _max_yaw_accel, _param_rm_wheel_track.get(), dt, _yaw_rate_with_accel_limit,
_pid_yaw_rate, true);
}
// Speed control
float forward_speed_normalized{0.f};
float lateral_speed_normalized{0.f};
if (PX4_ISFINITE(_rover_mecanum_setpoint.forward_speed_setpoint)
&& PX4_ISFINITE(_rover_mecanum_setpoint.lateral_speed_setpoint)) { // Closed loop speed control
if (_param_rm_max_thr_spd.get() > FLT_EPSILON) {
forward_speed_normalized = math::interpolate<float>(_rover_mecanum_setpoint.forward_speed_setpoint,
-_param_rm_max_thr_spd.get(), _param_rm_max_thr_spd.get(), -1.f, 1.f);
lateral_speed_normalized = math::interpolate<float>(_rover_mecanum_setpoint.lateral_speed_setpoint,
-_param_rm_max_thr_spd.get(), _param_rm_max_thr_spd.get(), -1.f, 1.f);
const float total_speed = fabsf(forward_speed_normalized) + fabsf(lateral_speed_normalized) + fabsf(
speed_diff_normalized);
if (total_speed > 1.f) { // Adjust speed setpoints if infeasible
const float theta = atan2f(fabsf(lateral_speed_normalized), fabsf(forward_speed_normalized));
const float magnitude = (1.f - fabsf(speed_diff_normalized)) / (sinf(theta) + cosf(theta));
const float normalization = 1.f / (sqrtf(powf(forward_speed_normalized, 2.f) + powf(lateral_speed_normalized, 2.f)));
forward_speed_normalized *= magnitude * normalization;
lateral_speed_normalized *= magnitude * normalization;
_rover_mecanum_setpoint.forward_speed_setpoint = math::interpolate<float>(forward_speed_normalized, -1.f, 1.f,
-_param_rm_max_thr_spd.get(), _param_rm_max_thr_spd.get());
_rover_mecanum_setpoint.lateral_speed_setpoint = math::interpolate<float>(lateral_speed_normalized, -1.f, 1.f,
-_param_rm_max_thr_spd.get(), _param_rm_max_thr_spd.get());
}
}
forward_speed_normalized = calcNormalizedSpeedSetpoint(_rover_mecanum_setpoint.forward_speed_setpoint,
vehicle_forward_speed, _param_rm_max_thr_spd.get(), _forward_speed_setpoint_with_accel_limit, _pid_forward_throttle,
_param_rm_max_accel.get(), _param_rm_max_decel.get(), dt, false);
lateral_speed_normalized = calcNormalizedSpeedSetpoint(_rover_mecanum_setpoint.lateral_speed_setpoint,
vehicle_lateral_speed, _param_rm_max_thr_spd.get(), _lateral_speed_setpoint_with_accel_limit, _pid_lateral_throttle,
_param_rm_max_accel.get(), _param_rm_max_decel.get(), dt, false);
_rover_mecanum_status.adjusted_forward_speed_setpoint = _forward_speed_setpoint_with_accel_limit.getState();
_rover_mecanum_status.adjusted_lateral_speed_setpoint = _lateral_speed_setpoint_with_accel_limit.getState();
} else if (PX4_ISFINITE(_rover_mecanum_setpoint.forward_speed_setpoint_normalized)
&& PX4_ISFINITE(_rover_mecanum_setpoint.lateral_speed_setpoint_normalized)) { // Use normalized setpoint
forward_speed_normalized = calcNormalizedSpeedSetpoint(_rover_mecanum_setpoint.forward_speed_setpoint_normalized,
vehicle_forward_speed, _param_rm_max_thr_spd.get(), _forward_speed_setpoint_with_accel_limit, _pid_forward_throttle,
_param_rm_max_accel.get(), _param_rm_max_decel.get(), dt, true);
lateral_speed_normalized = calcNormalizedSpeedSetpoint(_rover_mecanum_setpoint.lateral_speed_setpoint_normalized,
vehicle_lateral_speed, _param_rm_max_thr_spd.get(), _lateral_speed_setpoint_with_accel_limit, _pid_lateral_throttle,
_param_rm_max_accel.get(), _param_rm_max_decel.get(), dt, true);
}
// Publish rover mecanum status (logging)
_rover_mecanum_status.timestamp = _timestamp;
_rover_mecanum_status.measured_forward_speed = vehicle_forward_speed;
_rover_mecanum_status.measured_lateral_speed = vehicle_lateral_speed;
_rover_mecanum_status.measured_yaw_rate = vehicle_yaw_rate;
_rover_mecanum_status.measured_yaw = vehicle_yaw;
_rover_mecanum_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
_rover_mecanum_status.pid_yaw_integral = _pid_yaw.getIntegral();
_rover_mecanum_status.pid_forward_throttle_integral = _pid_forward_throttle.getIntegral();
_rover_mecanum_status.pid_lateral_throttle_integral = _pid_lateral_throttle.getIntegral();
_rover_mecanum_status_pub.publish(_rover_mecanum_status);
// Publish to motors
actuator_motors_s actuator_motors{};
actuator_motors.reversible_flags = _param_r_rev.get();
computeInverseKinematics(forward_speed_normalized, lateral_speed_normalized,
speed_diff_normalized).copyTo(actuator_motors.control);
actuator_motors.timestamp = _timestamp;
_actuator_motors_pub.publish(actuator_motors);
}
float RoverMecanumControl::calcNormalizedSpeedDiff(const float yaw_rate_setpoint, const float vehicle_yaw_rate,
const float max_thr_yaw_r,
const float max_yaw_accel, const float wheel_track, const float dt, SlewRate<float> &yaw_rate_with_accel_limit,
PID &pid_yaw_rate, const bool normalized)
{
float slew_rate_normalization{1.f};
if (normalized) { // Slew rate needs to be normalized if the setpoint is normalized
slew_rate_normalization = max_thr_yaw_r > FLT_EPSILON ? max_thr_yaw_r : 0.f;
}
if (max_yaw_accel > FLT_EPSILON && slew_rate_normalization > FLT_EPSILON) {
yaw_rate_with_accel_limit.setSlewRate(max_yaw_accel / slew_rate_normalization);
yaw_rate_with_accel_limit.update(yaw_rate_setpoint, dt);
} else {
yaw_rate_with_accel_limit.setForcedValue(yaw_rate_setpoint);
}
// Transform yaw rate into speed difference
float speed_diff_normalized{0.f};
if (normalized) {
speed_diff_normalized = yaw_rate_with_accel_limit.getState();
} else {
if (wheel_track > FLT_EPSILON && max_thr_yaw_r > FLT_EPSILON) { // Feedforward
const float speed_diff = yaw_rate_with_accel_limit.getState() * wheel_track /
2.f;
speed_diff_normalized = math::interpolate<float>(speed_diff, -max_thr_yaw_r,
max_thr_yaw_r, -1.f, 1.f);
}
_pid_yaw_rate.setSetpoint(yaw_rate_with_accel_limit.getState());
speed_diff_normalized = math::constrain(speed_diff_normalized +
_pid_yaw_rate.update(vehicle_yaw_rate, dt),
-1.f, 1.f); // Feedback
}
return math::constrain(speed_diff_normalized, -1.f, 1.f);
}
float RoverMecanumControl::calcNormalizedSpeedSetpoint(const float speed_setpoint,
const float vehicle_speed, const float max_thr_spd, SlewRate<float> &speed_setpoint_with_accel_limit,
PID &pid_throttle, const float max_accel, const float max_decel, const float dt, const bool normalized)
{
float slew_rate_normalization{1.f};
if (normalized) { // Slew rate needs to be normalized if the setpoint is normalized
slew_rate_normalization = max_thr_spd > FLT_EPSILON ? max_thr_spd : 0.f;
}
// Apply acceleration and deceleration limit
if (fabsf(speed_setpoint) >= fabsf(speed_setpoint_with_accel_limit.getState())) {
if (max_accel > FLT_EPSILON && slew_rate_normalization > FLT_EPSILON) {
speed_setpoint_with_accel_limit.setSlewRate(max_accel / slew_rate_normalization);
speed_setpoint_with_accel_limit.update(speed_setpoint, dt);
} else {
speed_setpoint_with_accel_limit.setForcedValue(speed_setpoint);
}
} else if (max_decel > FLT_EPSILON && slew_rate_normalization > FLT_EPSILON) {
speed_setpoint_with_accel_limit.setSlewRate(max_decel / slew_rate_normalization);
speed_setpoint_with_accel_limit.update(speed_setpoint, dt);
} else {
speed_setpoint_with_accel_limit.setForcedValue(speed_setpoint);
}
// Calculate normalized forward speed setpoint
float forward_speed_normalized{0.f};
if (normalized) {
forward_speed_normalized = speed_setpoint_with_accel_limit.getState();
} else { // Closed loop speed control
if (_param_rm_max_thr_spd.get() > FLT_EPSILON) { // Feedforward
forward_speed_normalized = math::interpolate<float>(speed_setpoint_with_accel_limit.getState(),
-max_thr_spd, max_thr_spd,
-1.f, 1.f);
}
pid_throttle.setSetpoint(speed_setpoint_with_accel_limit.getState());
forward_speed_normalized += pid_throttle.update(vehicle_speed, dt); // Feedback
}
return math::constrain(forward_speed_normalized, -1.f, 1.f);
}
matrix::Vector4f RoverMecanumControl::computeInverseKinematics(float forward_speed_normalized,
float lateral_speed_normalized,
float speed_diff)
{
const float total_speed = fabsf(forward_speed_normalized) + fabsf(lateral_speed_normalized) + fabsf(speed_diff);
if (total_speed > 1.f) { // Adjust speed setpoints if infeasible
const float theta = atan2f(fabsf(lateral_speed_normalized), fabsf(forward_speed_normalized));
const float magnitude = (1.f - fabsf(speed_diff)) / (sinf(theta) + cosf(theta));
const float normalization = 1.f / (sqrtf(powf(forward_speed_normalized, 2.f) + powf(lateral_speed_normalized, 2.f)));
forward_speed_normalized *= magnitude * normalization;
lateral_speed_normalized *= magnitude * normalization;
}
// Calculate motor commands
const float input_data[3] = {forward_speed_normalized, lateral_speed_normalized, speed_diff};
const Matrix<float, 3, 1> input(input_data);
const float m_data[12] = {1.f, -1.f, -1.f, 1.f, 1.f, 1.f, 1.f, 1.f, -1.f, 1.f, -1.f, 1.f};
const Matrix<float, 4, 3> m(m_data);
const Vector4f motor_commands = m * input;
return motor_commands;
}
void RoverMecanumControl::resetControllers()
{
_pid_forward_throttle.resetIntegral();
_pid_lateral_throttle.resetIntegral();
_pid_yaw_rate.resetIntegral();
_pid_yaw.resetIntegral();
}

177
src/modules/rover_mecanum/RoverMecanumControl/RoverMecanumControl.hpp
View File

@ -1,177 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2024 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
// PX4 includes
#include <px4_platform_common/module_params.h>
// uORB includes
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/rover_mecanum_setpoint.h>
#include <uORB/topics/rover_mecanum_status.h>
#include <uORB/topics/actuator_motors.h>
#include <lib/slew_rate/SlewRate.hpp>
#include <lib/slew_rate/SlewRateYaw.hpp>
// Standard libraries
#include <lib/pid/PID.hpp>
#include <matrix/matrix/math.hpp>
#include <matrix/math.hpp>
#include <mathlib/mathlib.h>
#include <math.h>
using namespace matrix;
/**
* @brief Class for mecanum rover guidance.
*/
class RoverMecanumControl : public ModuleParams
{
public:
/**
* @brief Constructor for RoverMecanumControl.
* @param parent The parent ModuleParams object.
*/
RoverMecanumControl(ModuleParams *parent);
~RoverMecanumControl() = default;
/**
* @brief Compute motor commands based on setpoints
* @param vehicle_yaw Yaw of the vehicle [rad]
* @param vehicle_yaw_rate Yaw rate of the vehicle [rad/s]
* @param vehicle_forward_speed Forward speed of the vehicle [m/s]
* @param vehicle_lateral_speed Lateral speed of the vehicle [m/s]
*/
void computeMotorCommands(float vehicle_yaw, float vehicle_yaw_rate, float vehicle_forward_speed,
float vehicle_lateral_speed);
/**
* @brief Reset PID controllers
*/
void resetControllers();
protected:
/**
* @brief Update the parameters of the module.
*/
void updateParams() override;
private:
/**
* @brief Compute normalized speed diff setpoint between the left and right wheels and apply slew rates.
* @param yaw_rate_setpoint Yaw rate setpoint [rad/s or normalized [-1, 1]].
* @param vehicle_yaw_rate Measured yaw rate [rad/s].
* @param max_thr_yaw_r Yaw rate turning left/right wheels at max speed in opposite directions [m/s].
* @param max_yaw_accel Maximum allowed yaw acceleration for the rover [rad/s^2].
* @param wheel_track Wheel track [m].
* @param dt Time since last update [s].
* @param yaw_rate_with_accel_limit Yaw rate slew rate.
* @param pid_yaw_rate Yaw rate PID
* @param normalized Indicates if the forward speed setpoint is already normalized.
* @return Normalized speed differece setpoint with applied slew rates [-1, 1].
*/
float calcNormalizedSpeedDiff(float yaw_rate_setpoint, float vehicle_yaw_rate, float max_thr_yaw_r, float max_yaw_accel,
float wheel_track, float dt, SlewRate<float> &yaw_rate_with_accel_limit, PID &pid_yaw_rate, bool normalized);
/**
* @brief Compute normalized speed setpoint and apply slew rates.
* to the speed setpoint and doing closed loop speed control if enabled.
* @param speed_setpoint Speed setpoint [m/s].
* @param vehicle_speed Actual speed [m/s].
* @param max_thr_spd Speed the rover drives at maximum throttle [m/s].
* @param speed_setpoint_with_accel_limit Speed slew rate.
* @param pid_throttle Throttle PID
* @param max_accel Maximum acceleration [m/s^2]
* @param max_decel Maximum deceleration [m/s^2]
* @param dt Time since last update [s].
* @param normalized Indicates if the speed setpoint is already normalized.
* @return Normalized speed setpoint with applied slew rates [-1, 1].
*/
float calcNormalizedSpeedSetpoint(float speed_setpoint, float vehicle_forward_speed, float max_thr_spd,
SlewRate<float> &speed_setpoint_with_accel_limit, PID &pid_throttle, float max_accel, float max_decel,
float dt, bool normalized);
/**
* @brief Turn normalized speed setpoints into normalized motor commands.
*
* @param forward_speed Normalized linear speed in body forward direction [-1, 1].
* @param lateral_speed Normalized linear speed in body lateral direction [-1, 1].
* @param speed_diff Normalized speed difference between left and right wheels [-1, 1].
* @return matrix::Vector4f: Normalized motor inputs [-1, 1]
*/
matrix::Vector4f computeInverseKinematics(float forward_speed, float lateral_speed, float speed_diff);
// uORB subscriptions
uORB::Subscription _rover_mecanum_setpoint_sub{ORB_ID(rover_mecanum_setpoint)};
// uORB publications
uORB::PublicationMulti<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
uORB::Publication<rover_mecanum_status_s> _rover_mecanum_status_pub{ORB_ID(rover_mecanum_status)};
rover_mecanum_status_s _rover_mecanum_status{};
// Variables
rover_mecanum_setpoint_s _rover_mecanum_setpoint{};
hrt_abstime _timestamp{0};
float _max_yaw_rate{0.f};
float _max_yaw_accel{0.f};
// Controllers
PID _pid_forward_throttle; // PID for the closed loop forward speed control
PID _pid_lateral_throttle; // PID for the closed loop lateral speed control
PID _pid_yaw; // PID for the closed loop yaw control
PID _pid_yaw_rate; // PID for the closed loop yaw rate control
SlewRate<float> _forward_speed_setpoint_with_accel_limit{0.f};
SlewRate<float> _lateral_speed_setpoint_with_accel_limit{0.f};
SlewRate<float> _yaw_rate_with_accel_limit{0.f};
SlewRateYaw<float> _yaw_setpoint_with_yaw_rate_limit;
// Parameters
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RM_WHEEL_TRACK>) _param_rm_wheel_track,
(ParamFloat<px4::params::RM_MAX_THR_SPD>) _param_rm_max_thr_spd,
(ParamFloat<px4::params::RM_MAX_ACCEL>) _param_rm_max_accel,
(ParamFloat<px4::params::RM_MAX_DECEL>) _param_rm_max_decel,
(ParamFloat<px4::params::RM_MAX_THR_YAW_R>) _param_rm_max_thr_yaw_r,
(ParamFloat<px4::params::RM_MAX_YAW_RATE>) _param_rm_max_yaw_rate,
(ParamFloat<px4::params::RM_MAX_YAW_ACCEL>) _param_rm_max_yaw_accel,
(ParamFloat<px4::params::RM_YAW_RATE_P>) _param_rm_yaw_rate_p,
(ParamFloat<px4::params::RM_YAW_RATE_I>) _param_rm_yaw_rate_i,
(ParamFloat<px4::params::RM_SPEED_P>) _param_rm_p_gain_speed,
(ParamFloat<px4::params::RM_SPEED_I>) _param_rm_i_gain_speed,
(ParamFloat<px4::params::RM_YAW_P>) _param_rm_p_gain_yaw,
(ParamFloat<px4::params::RM_YAW_I>) _param_rm_i_gain_yaw,
(ParamInt<px4::params::CA_R_REV>) _param_r_rev
)
};

206
src/modules/rover_mecanum/RoverMecanumGuidance/RoverMecanumGuidance.cpp
View File

@ -1,206 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2023-2024 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 "RoverMecanumGuidance.hpp"
#include <mathlib/math/Limits.hpp>
using namespace matrix;
using namespace time_literals;
RoverMecanumGuidance::RoverMecanumGuidance(ModuleParams *parent) : ModuleParams(parent)
{
updateParams();
_max_velocity_magnitude = _param_rm_max_speed.get();
_rover_mecanum_guidance_status_pub.advertise();
}
void RoverMecanumGuidance::updateParams()
{
ModuleParams::updateParams();
}
void RoverMecanumGuidance::computeGuidance(const float yaw, const int nav_state)
{
updateSubscriptions();
// Calculate desired velocity magnitude
float desired_velocity_magnitude{_max_velocity_magnitude};
const float distance_to_curr_wp = get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1),
_curr_wp(0), _curr_wp(1));
if (_param_rm_max_jerk.get() > FLT_EPSILON && _param_rm_max_accel.get() > FLT_EPSILON
&& _param_rm_miss_vel_gain.get() > FLT_EPSILON) {
const float speed_reduction = math::constrain(_param_rm_miss_vel_gain.get() * math::interpolate(
M_PI_F - _waypoint_transition_angle, 0.f,
M_PI_F, 0.f, 1.f), 0.f, 1.f);
desired_velocity_magnitude = math::trajectory::computeMaxSpeedFromDistance(_param_rm_max_jerk.get(),
_param_rm_max_accel.get(), distance_to_curr_wp, _max_velocity_magnitude * (1.f - speed_reduction));
desired_velocity_magnitude = math::constrain(desired_velocity_magnitude, -_max_velocity_magnitude,
_max_velocity_magnitude);
}
// Calculate heading error
const float desired_heading = _pure_pursuit.calcDesiredHeading(_curr_wp_ned, _prev_wp_ned, _curr_pos_ned,
desired_velocity_magnitude);
const float heading_error = matrix::wrap_pi(desired_heading - yaw);
// Catch return to launch
const float distance_to_next_wp = get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1),
_next_wp(0), _next_wp(1));
if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) {
_mission_finished = distance_to_next_wp < _param_nav_acc_rad.get();
}
// Guidance logic
Vector2f desired_velocity(0.f, 0.f);
if (!_mission_finished && distance_to_curr_wp > _param_nav_acc_rad.get()) {
desired_velocity = desired_velocity_magnitude * Vector2f(cosf(heading_error), sinf(heading_error));
}
// Timestamp
hrt_abstime timestamp = hrt_absolute_time();
// Publish mecanum controller status (logging)
rover_mecanum_guidance_status_s rover_mecanum_guidance_status{};
rover_mecanum_guidance_status.timestamp = timestamp;
rover_mecanum_guidance_status.lookahead_distance = _pure_pursuit.getLookaheadDistance();
rover_mecanum_guidance_status.heading_error = heading_error;
rover_mecanum_guidance_status.desired_speed = desired_velocity_magnitude;
_rover_mecanum_guidance_status_pub.publish(rover_mecanum_guidance_status);
// Publish setpoints
rover_mecanum_setpoint_s rover_mecanum_setpoint{};
rover_mecanum_setpoint.timestamp = timestamp;
rover_mecanum_setpoint.forward_speed_setpoint = desired_velocity(0);
rover_mecanum_setpoint.forward_speed_setpoint_normalized = NAN;
rover_mecanum_setpoint.lateral_speed_setpoint = desired_velocity(1);
rover_mecanum_setpoint.lateral_speed_setpoint_normalized = NAN;
rover_mecanum_setpoint.yaw_rate_setpoint = NAN;
rover_mecanum_setpoint.speed_diff_setpoint_normalized = NAN;
rover_mecanum_setpoint.yaw_setpoint = _desired_yaw;
_rover_mecanum_setpoint_pub.publish(rover_mecanum_setpoint);
}
void RoverMecanumGuidance::updateSubscriptions()
{
if (_vehicle_global_position_sub.updated()) {
vehicle_global_position_s vehicle_global_position{};
_vehicle_global_position_sub.copy(&vehicle_global_position);
_curr_pos = Vector2d(vehicle_global_position.lat, vehicle_global_position.lon);
}
if (_local_position_sub.updated()) {
vehicle_local_position_s local_position{};
_local_position_sub.copy(&local_position);
if (!_global_ned_proj_ref.isInitialized()
|| (_global_ned_proj_ref.getProjectionReferenceTimestamp() != local_position.ref_timestamp)) {
_global_ned_proj_ref.initReference(local_position.ref_lat, local_position.ref_lon, local_position.ref_timestamp);
}
_curr_pos_ned = Vector2f(local_position.x, local_position.y);
}
if (_position_setpoint_triplet_sub.updated()) {
updateWaypoints();
}
if (_mission_result_sub.updated()) {
mission_result_s mission_result{};
_mission_result_sub.copy(&mission_result);
_mission_finished = mission_result.finished;
}
if (_home_position_sub.updated()) {
home_position_s home_position{};
_home_position_sub.copy(&home_position);
_home_position = Vector2d(home_position.lat, home_position.lon);
}
}
void RoverMecanumGuidance::updateWaypoints()
{
position_setpoint_triplet_s position_setpoint_triplet{};
_position_setpoint_triplet_sub.copy(&position_setpoint_triplet);
// Global waypoint coordinates
if (position_setpoint_triplet.current.valid && PX4_ISFINITE(position_setpoint_triplet.current.lat)
&& PX4_ISFINITE(position_setpoint_triplet.current.lon)) {
_curr_wp = Vector2d(position_setpoint_triplet.current.lat, position_setpoint_triplet.current.lon);
} else {
_curr_wp = Vector2d(0, 0);
}
if (position_setpoint_triplet.previous.valid && PX4_ISFINITE(position_setpoint_triplet.previous.lat)
&& PX4_ISFINITE(position_setpoint_triplet.previous.lon)) {
_prev_wp = Vector2d(position_setpoint_triplet.previous.lat, position_setpoint_triplet.previous.lon);
} else {
_prev_wp = _curr_pos;
}
if (position_setpoint_triplet.next.valid && PX4_ISFINITE(position_setpoint_triplet.next.lat)
&& PX4_ISFINITE(position_setpoint_triplet.next.lon)) {
_next_wp = Vector2d(position_setpoint_triplet.next.lat, position_setpoint_triplet.next.lon);
} else {
_next_wp = _home_position;
}
// NED waypoint coordinates
_curr_wp_ned = _global_ned_proj_ref.project(_curr_wp(0), _curr_wp(1));
_prev_wp_ned = _global_ned_proj_ref.project(_prev_wp(0), _prev_wp(1));
_next_wp_ned = _global_ned_proj_ref.project(_next_wp(0), _next_wp(1));
// Distances
const Vector2f curr_to_next_wp_ned = _next_wp_ned - _curr_wp_ned;
const Vector2f curr_to_prev_wp_ned = _prev_wp_ned - _curr_wp_ned;
float cosin = curr_to_prev_wp_ned.unit_or_zero() * curr_to_next_wp_ned.unit_or_zero();
cosin = math::constrain<float>(cosin, -1.f, 1.f); // Protect against float precision problem
_waypoint_transition_angle = acosf(cosin);
// Waypoint cruising speed
_max_velocity_magnitude = position_setpoint_triplet.current.cruising_speed > FLT_EPSILON ? math::constrain(
position_setpoint_triplet.current.cruising_speed, 0.f,
_param_rm_max_speed.get()) : _param_rm_max_speed.get();
// Waypoint yaw setpoint
if (PX4_ISFINITE(position_setpoint_triplet.current.yaw)) {
_desired_yaw = position_setpoint_triplet.current.yaw;
}
}

139
src/modules/rover_mecanum/RoverMecanumGuidance/RoverMecanumGuidance.hpp
View File

@ -1,139 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2024 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
// PX4 includes
#include <px4_platform_common/module_params.h>
#include <lib/pure_pursuit/PurePursuit.hpp>
// uORB includes
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/rover_mecanum_guidance_status.h>
#include <uORB/topics/rover_mecanum_setpoint.h>
// Standard libraries
#include <matrix/matrix/math.hpp>
#include <matrix/math.hpp>
#include <mathlib/mathlib.h>
#include <lib/geo/geo.h>
#include <math.h>
using namespace matrix;
/**
* @brief Class for mecanum rover guidance.
*/
class RoverMecanumGuidance : public ModuleParams
{
public:
/**
* @brief Constructor for RoverMecanumGuidance.
* @param parent The parent ModuleParams object.
*/
RoverMecanumGuidance(ModuleParams *parent);
~RoverMecanumGuidance() = default;
/**
* @brief Compute guidance for the vehicle.
* @param yaw The yaw orientation of the vehicle in radians.
* @param nav_state Navigation state of the rover.
*/
void computeGuidance(float yaw, int nav_state);
void setDesiredYaw(float desired_yaw) { _desired_yaw = desired_yaw; };
protected:
/**
* @brief Update the parameters of the module.
*/
void updateParams() override;
private:
/**
* @brief Update uORB subscriptions
*/
void updateSubscriptions();
/**
* @brief Update global/ned waypoint coordinates
*/
void updateWaypoints();
// uORB subscriptions
uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)};
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _mission_result_sub{ORB_ID(mission_result)};
uORB::Subscription _local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _home_position_sub{ORB_ID(home_position)};
// uORB publications
uORB::Publication<rover_mecanum_guidance_status_s> _rover_mecanum_guidance_status_pub{ORB_ID(rover_mecanum_guidance_status)};
uORB::Publication<rover_mecanum_setpoint_s> _rover_mecanum_setpoint_pub{ORB_ID(rover_mecanum_setpoint)};
// Variables
MapProjection _global_ned_proj_ref{}; // Transform global to ned coordinates.
PurePursuit _pure_pursuit{this}; // Pure pursuit library
bool _mission_finished{false};
// Waypoints
Vector2d _curr_pos{};
Vector2f _curr_pos_ned{};
Vector2d _prev_wp{};
Vector2f _prev_wp_ned{};
Vector2d _curr_wp{};
Vector2f _curr_wp_ned{};
Vector2d _next_wp{};
Vector2f _next_wp_ned{};
Vector2d _home_position{};
float _max_velocity_magnitude{0.f};
float _waypoint_transition_angle{0.f}; // Angle between the prevWP-currWP and currWP-nextWP line segments [rad]
float _desired_yaw{0.f};
// Parameters
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RM_MAX_SPEED>) _param_rm_max_speed,
(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad,
(ParamFloat<px4::params::RM_MAX_JERK>) _param_rm_max_jerk,
(ParamFloat<px4::params::RM_MAX_ACCEL>) _param_rm_max_accel,
(ParamFloat<px4::params::RM_MAX_YAW_RATE>) _param_rm_max_yaw_rate,
(ParamFloat<px4::params::RM_MISS_VEL_GAIN>) _param_rm_miss_vel_gain
)
};

200
src/modules/rover_mecanum/module.yaml
View File

@ -3,47 +3,17 @@ module_name: Rover Mecanum
parameters:
- group: Rover Mecanum
definitions:
RM_WHEEL_TRACK:
description:
short: Wheel track
long: Distance from the center of the right wheels to the center of the left wheels.
type: float
unit: m
min: 0.001
max: 100
increment: 0.001
decimal: 3
default: 0.5
RM_MAX_YAW_RATE:
description:
short: Maximum allowed yaw rate for the rover.
long: |
This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in acro mode.
type: float
unit: deg/s
min: 0.01
max: 1000
increment: 0.01
decimal: 2
default: 90
RM_MAX_YAW_ACCEL:
description:
short: Maximum allowed yaw acceleration for the rover
long: |
This parameter is used to cap desired yaw acceleration. This is used to adjust incoming yaw rate setpoints
to a feasible yaw rate setpoint based on the physical limitation on how fast the yaw rate can change.
This leads to a smooth setpoint trajectory for the closed loop yaw rate controller to track.
Set to -1 to disable.
type: float
unit: deg/s^2
min: -1
max: 1000
increment: 0.01
decimal: 2
default: -1
description:
short: Wheel track
long: Distance from the center of the right wheel to the center of the left wheel.
type: float
unit: m
min: 0
max: 100
increment: 0.001
decimal: 3
default: 0
RM_MAX_THR_YAW_R:
description:
@ -52,7 +22,7 @@ parameters:
This parameter is used to calculate the feedforward term of the closed loop yaw rate control.
The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate.
This desired speed difference is then linearly mapped to normalized motor commands.
A good starting point is twice the speed the rover drives at maximum throttle (RM_MAX_THRTL_SPD)).
A good starting point is half the speed the rover drives at maximum throttle (RD_MAX_THR_SPD)).
Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.
type: float
unit: m/s
@ -60,149 +30,37 @@ parameters:
max: 100
increment: 0.01
decimal: 2
default: 2
RM_YAW_RATE_P:
description:
short: Proportional gain for the closed-loop yaw rate controller.
type: float
min: 0
max: 100
increment: 0.01
decimal: 2
default: 1
RM_YAW_RATE_I:
description:
short: Integral gain for the closed-loop yaw rate controller.
type: float
min: 0
max: 100
increment: 0.01
decimal: 2
default: 0
RM_YAW_P:
RM_MISS_SPD_GAIN:
description:
short: Proportional gain for closed loop yaw controller
type: float
min: 0
max: 100
increment: 0.01
decimal: 2
default: 1
RM_YAW_I:
description:
short: Integral gain for closed loop yaw controller
type: float
min: 0
max: 100
increment: 0.01
decimal: 2
default: 0.1
RM_MAX_SPEED:
description:
short: Maximum speed the rover is allowed to drive
short: Tuning parameter for the speed reduction during waypoint transition
long: |
This parameter is used cap the maximum speed the rover is allowed to drive
and to map stick inputs to desired speeds in position mode.
The waypoint transition speed is calculated as:
Transition_speed = Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN)
The normalized transition angle is the angle between the line segment from prev-curr waypoint and
curr-next waypoint interpolated from [0, 180] -> [0, 1].
Higher value -> More speed reduction during waypoint transitions.
Set to -1 to disable any speed reduction during waypoint transition.
type: float
unit: m/s
min: 0
max: 100
increment: 0.01
decimal: 2
default: 7
RM_MAX_THR_SPD:
description:
short: Speed the rover drives at maximum throttle
long: |
This parameter is used to calculate the feedforward term of the closed loop speed control which linearly
maps desired speeds to normalized motor commands [-1. 1].
A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode.
Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.
type: float
unit: m/s
min: 0
max: 100
increment: 0.01
decimal: 2
default: 1
RM_SPEED_P:
description:
short: Proportional gain for speed controller
type: float
min: 0
max: 100
increment: 0.01
decimal: 3
default: 1
RM_SPEED_I:
description:
short: Integral gain for ground speed controller
type: float
min: 0
max: 100
increment: 0.01
decimal: 3
default: 0
RM_MAX_JERK:
description:
short: Maximum jerk
long: Limit for forwards acc/deceleration change.
type: float
unit: m/s^3
min: 0
max: 100
increment: 0.01
decimal: 2
default: 0.5
RM_MAX_ACCEL:
description:
short: Maximum acceleration
long: Maximum acceleration is used to limit the acceleration of the rover
type: float
unit: m/s^2
min: 0
max: 100
increment: 0.01
decimal: 2
default: 0.5
RM_MAX_DECEL:
description:
short: Maximum deceleration
long: |
Maximum decelaration is used to limit the deceleration of the rover.
Set to -1 to disable, causing the rover to decelerate as fast as possible.
Caution: Disabling the deceleration limit also disables the slow down effect in auto modes.
type: float
unit: m/s^2
min: -1
max: 100
increment: 0.01
decimal: 2
default: -1
RM_MISS_VEL_GAIN:
RM_COURSE_CTL_TH:
description:
short: Tuning parameter for the velocity reduction during waypoint transition
short: Threshold to update course control in manual position mode
long: |
The waypoint transition speed is calculated as:
Transition_speed = Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN)
The normalized transition angle is the angle between the line segment from prev-curr WP and curr-next WP
interpolated from [0, 180] -> [0, 1].
Higher value -> More velocity reduction during cornering.
Threshold for the angle between the active cruise direction and the cruise direction given
by the stick inputs.
This can be understood as a deadzone for the combined stick inputs for forward/backwards
and lateral speed which defines a course direction.
type: float
min: 0.05
max: 100
unit: rad
min: 0
max: 3.14
increment: 0.01
decimal: 2
default: 1
default: 0.17