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mecanum: refactor code architecture
This commit is contained in:
chfriedrich98
committed by
chfriedrich98
chfriedrich98
parent
d602b569b1
commit
7c63468e8b
@@ -0,0 +1,39 @@
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############################################################################
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#
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# Copyright (c) 2025 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(MecanumRateControl
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MecanumRateControl.cpp
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)
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target_link_libraries(MecanumRateControl PUBLIC PID)
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target_include_directories(MecanumRateControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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@@ -0,0 +1,190 @@
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/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "MecanumRateControl.hpp"
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using namespace time_literals;
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MecanumRateControl::MecanumRateControl(ModuleParams *parent) : ModuleParams(parent)
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{
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_rover_rate_setpoint_pub.advertise();
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_rover_throttle_setpoint_pub.advertise();
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_rover_steering_setpoint_pub.advertise();
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_rover_rate_status_pub.advertise();
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updateParams();
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}
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void MecanumRateControl::updateParams()
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{
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ModuleParams::updateParams();
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_max_yaw_rate = _param_ro_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
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_max_yaw_accel = _param_ro_yaw_accel_limit.get() * M_DEG_TO_RAD_F;
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_max_yaw_decel = _param_ro_yaw_decel_limit.get() * M_DEG_TO_RAD_F;
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_pid_yaw_rate.setGains(_param_ro_yaw_rate_p.get(), _param_ro_yaw_rate_i.get(), 0.f);
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_pid_yaw_rate.setIntegralLimit(1.f);
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_pid_yaw_rate.setOutputLimit(1.f);
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_adjusted_yaw_rate_setpoint.setSlewRate(_max_yaw_accel);
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}
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void MecanumRateControl::updateRateControl()
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{
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const hrt_abstime timestamp_prev = _timestamp;
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_timestamp = hrt_absolute_time();
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_dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
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if (_vehicle_control_mode_sub.updated()) {
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_vehicle_control_mode_sub.copy(&_vehicle_control_mode);
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}
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if (_vehicle_angular_velocity_sub.updated()) {
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vehicle_angular_velocity_s vehicle_angular_velocity{};
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_vehicle_angular_velocity_sub.copy(&vehicle_angular_velocity);
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_vehicle_yaw_rate = fabsf(vehicle_angular_velocity.xyz[2]) > _param_ro_yaw_rate_th.get() * M_DEG_TO_RAD_F ?
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vehicle_angular_velocity.xyz[2] : 0.f;
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}
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if (_vehicle_control_mode.flag_control_rates_enabled && _vehicle_control_mode.flag_armed && runSanityChecks()) {
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if (_vehicle_control_mode.flag_control_manual_enabled || _vehicle_control_mode.flag_control_offboard_enabled) {
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generateRateSetpoint();
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}
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generateSteeringSetpoint();
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} else { // Reset controller and slew rate when rate control is not active
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_pid_yaw_rate.resetIntegral();
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_adjusted_yaw_rate_setpoint.setForcedValue(0.f);
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}
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// Publish rate controller status (logging only)
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rover_rate_status_s rover_rate_status;
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rover_rate_status.timestamp = _timestamp;
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rover_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
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rover_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
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rover_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
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_rover_rate_status_pub.publish(rover_rate_status);
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}
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void MecanumRateControl::generateRateSetpoint()
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{
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const bool acro_mode_enabled = _vehicle_control_mode.flag_control_manual_enabled
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&& !_vehicle_control_mode.flag_control_position_enabled && !_vehicle_control_mode.flag_control_attitude_enabled;
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if (acro_mode_enabled && _manual_control_setpoint_sub.updated()) { // Acro Mode
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manual_control_setpoint_s manual_control_setpoint{};
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if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
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rover_throttle_setpoint_s rover_throttle_setpoint{};
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rover_throttle_setpoint.timestamp = _timestamp;
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rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
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rover_throttle_setpoint.throttle_body_y = manual_control_setpoint.roll;
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_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
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rover_rate_setpoint_s rover_rate_setpoint{};
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rover_rate_setpoint.timestamp = _timestamp;
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rover_rate_setpoint.yaw_rate_setpoint = math::interpolate<float> (manual_control_setpoint.yaw, -1.f, 1.f,
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-_max_yaw_rate, _max_yaw_rate);
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_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
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}
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} else if (_vehicle_control_mode.flag_control_offboard_enabled) { // Offboard rate control
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trajectory_setpoint_s trajectory_setpoint{};
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_trajectory_setpoint_sub.copy(&trajectory_setpoint);
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if (_offboard_control_mode_sub.updated()) {
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_offboard_control_mode_sub.copy(&_offboard_control_mode);
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}
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const bool offboard_rate_control = _offboard_control_mode.body_rate && !_offboard_control_mode.attitude;
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if (offboard_rate_control && PX4_ISFINITE(trajectory_setpoint.yawspeed)) {
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rover_rate_setpoint_s rover_rate_setpoint{};
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rover_rate_setpoint.timestamp = _timestamp;
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rover_rate_setpoint.yaw_rate_setpoint = trajectory_setpoint.yawspeed;
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_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
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}
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}
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}
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void MecanumRateControl::generateSteeringSetpoint()
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{
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if (_rover_rate_setpoint_sub.updated()) {
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_rover_rate_setpoint_sub.copy(&_rover_rate_setpoint);
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}
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float speed_diff_normalized{0.f};
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if (PX4_ISFINITE(_rover_rate_setpoint.yaw_rate_setpoint) && PX4_ISFINITE(_vehicle_yaw_rate)) {
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const float yaw_rate_setpoint = fabsf(_rover_rate_setpoint.yaw_rate_setpoint) > _param_ro_yaw_rate_th.get() *
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M_DEG_TO_RAD_F ?
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_rover_rate_setpoint.yaw_rate_setpoint : 0.f;
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speed_diff_normalized = RoverControl::rateControl(_adjusted_yaw_rate_setpoint, _pid_yaw_rate,
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yaw_rate_setpoint, _vehicle_yaw_rate, _param_rm_max_thr_yaw_r.get(), _max_yaw_accel,
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_max_yaw_decel, _param_rm_wheel_track.get(), _dt);
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}
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rover_steering_setpoint_s rover_steering_setpoint{};
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rover_steering_setpoint.timestamp = _timestamp;
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rover_steering_setpoint.normalized_speed_diff = speed_diff_normalized;
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_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
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}
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bool MecanumRateControl::runSanityChecks()
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{
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bool ret = true;
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if (_param_ro_yaw_rate_limit.get() < FLT_EPSILON) {
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ret = false;
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if (_prev_param_check_passed) {
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events::send<float>(events::ID("mecanum_rate_control_conf_invalid_yaw_rate_lim"), events::Log::Error,
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"Invalid configuration of necessary parameter RO_YAW_RATE_LIM", _param_ro_yaw_rate_limit.get());
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}
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}
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if ((_param_rm_wheel_track.get() < FLT_EPSILON || _param_rm_max_thr_yaw_r.get() < FLT_EPSILON)
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&& _param_ro_yaw_rate_p.get() < FLT_EPSILON) {
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ret = false;
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if (_prev_param_check_passed) {
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events::send<float, float, float>(events::ID("mecanum_rate_control_conf_invalid_rate_control"), events::Log::Error,
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"Invalid configuration for rate control: Neither feed forward (RM_MAX_THR_YAW_R) nor feedback (RO_YAW_RATE_P) is setup",
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_param_rm_wheel_track.get(),
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_param_rm_max_thr_yaw_r.get(), _param_ro_yaw_rate_p.get());
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}
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}
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_prev_param_check_passed = ret;
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return ret;
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}
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@@ -0,0 +1,144 @@
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/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
|
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*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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// PX4 includes
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/events.h>
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// Libraries
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#include <lib/rover_control/RoverControl.hpp>
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#include <lib/pid/PID.hpp>
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#include <lib/slew_rate/SlewRate.hpp>
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#include <math.h>
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// uORB includes
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/rover_rate_setpoint.h>
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#include <uORB/topics/rover_throttle_setpoint.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/rover_steering_setpoint.h>
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#include <uORB/topics/rover_rate_status.h>
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#include <uORB/topics/actuator_motors.h>
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#include <uORB/topics/offboard_control_mode.h>
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#include <uORB/topics/trajectory_setpoint.h>
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/**
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* @brief Class for mecanum rate control.
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*/
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class MecanumRateControl : public ModuleParams
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{
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public:
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/**
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* @brief Constructor for MecanumRateControl.
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* @param parent The parent ModuleParams object.
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*/
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MecanumRateControl(ModuleParams *parent);
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~MecanumRateControl() = default;
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/**
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* @brief Update rate controller.
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*/
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void updateRateControl();
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protected:
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/**
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* @brief Update the parameters of the module.
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*/
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void updateParams() override;
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private:
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/**
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* @brief Generate and publish roverRateSetpoint from manualControlSetpoint (Acro Mode)
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* or trajectorySetpoint (Offboard rate control).
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*/
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void generateRateSetpoint();
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/**
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* @brief Generate and publish roverSteeringSetpoint from RoverRateSetpoint.
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*/
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void generateSteeringSetpoint();
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/**
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* @brief Check if the necessary parameters are set.
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* @return True if all checks pass.
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*/
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bool runSanityChecks();
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// uORB subscriptions
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uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
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uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
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uORB::Subscription _rover_rate_setpoint_sub{ORB_ID(rover_rate_setpoint)};
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uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
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uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
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vehicle_control_mode_s _vehicle_control_mode{};
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offboard_control_mode_s _offboard_control_mode{};
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rover_rate_setpoint_s _rover_rate_setpoint{};
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// uORB publications
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uORB::Publication<rover_rate_setpoint_s> _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
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uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
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uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
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uORB::Publication<rover_rate_status_s> _rover_rate_status_pub{ORB_ID(rover_rate_status)};
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// Variables
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hrt_abstime _timestamp{0};
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float _max_yaw_rate{0.f};
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float _max_yaw_accel{0.f};
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float _max_yaw_decel{0.f};
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float _vehicle_yaw_rate{0.f};
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float _dt{0.f}; // Time since last update [s].
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bool _prev_param_check_passed{true};
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// Controllers
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PID _pid_yaw_rate;
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SlewRate<float> _adjusted_yaw_rate_setpoint{0.f};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::RM_WHEEL_TRACK>) _param_rm_wheel_track,
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(ParamFloat<px4::params::RM_MAX_THR_YAW_R>) _param_rm_max_thr_yaw_r,
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(ParamFloat<px4::params::RO_YAW_RATE_LIM>) _param_ro_yaw_rate_limit,
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(ParamFloat<px4::params::RO_YAW_RATE_TH>) _param_ro_yaw_rate_th,
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(ParamFloat<px4::params::RO_YAW_RATE_P>) _param_ro_yaw_rate_p,
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(ParamFloat<px4::params::RO_YAW_RATE_I>) _param_ro_yaw_rate_i,
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(ParamFloat<px4::params::RO_YAW_ACCEL_LIM>) _param_ro_yaw_accel_limit,
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(ParamFloat<px4::params::RO_YAW_DECEL_LIM>) _param_ro_yaw_decel_limit
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)
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};
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