mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 21:13:35 +08:00
mecanum: refactor code architecture
This commit is contained in:
chfriedrich98
committed by
chfriedrich98
chfriedrich98
parent
d602b569b1
commit
7c63468e8b
@@ -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;
|
||||
}
|
||||
Reference in New Issue
Block a user