ackermann: streamline flow of information

src/modules/rover_ackermann/AckermannAttControl/AckermannAttControl.cpp

@@ -85,7 +85,7 @@ void AckermannAttControl::updateAttControl()
 		}
 
 		if (_vehicle_control_mode.flag_control_manual_enabled) {
-			generateAttitudeSetpoint();
+			generateAttitudeAndThrottleSetpoint();
 		}
 
 		generateRateSetpoint();
@@ -99,12 +99,12 @@ void AckermannAttControl::updateAttControl()
 	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.adjusted_yaw_setpoint = matrix::wrap_pi(_adjusted_yaw_setpoint.getState());
 	_rover_attitude_status_pub.publish(rover_attitude_status);
 
 }
 
-void AckermannAttControl::generateAttitudeSetpoint()
+void AckermannAttControl::generateAttitudeAndThrottleSetpoint()
 {
 	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;
@@ -120,17 +120,18 @@ void AckermannAttControl::generateAttitudeSetpoint()
 			rover_throttle_setpoint.throttle_body_y = 0.f;
 			_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
 
-			float yaw_rate_setpoint = math::interpolate<float>(math::deadzone(manual_control_setpoint.roll,
+			const float yaw_delta = math::interpolate<float>(math::deadzone(manual_control_setpoint.roll,
-						  _param_ro_yaw_stick_dz.get()), -1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);
+						_param_ro_yaw_stick_dz.get()), -1.f, 1.f, -_max_yaw_rate / _param_ro_yaw_p.get(),
+						_max_yaw_rate / _param_ro_yaw_p.get());
 
-			if (fabsf(yaw_rate_setpoint) > FLT_EPSILON
+			if (fabsf(yaw_delta) > FLT_EPSILON
 			    || fabsf(rover_throttle_setpoint.throttle_body_x) < FLT_EPSILON) { // Closed loop yaw rate control
 				_stab_yaw_ctl = false;
-				_adjusted_yaw_setpoint.setForcedValue(0.f);
+				const float yaw_setpoint = matrix::wrap_pi(_vehicle_yaw + matrix::sign(manual_control_setpoint.throttle) * yaw_delta);
-				rover_rate_setpoint_s rover_rate_setpoint{};
+				rover_attitude_setpoint_s rover_attitude_setpoint{};
-				rover_rate_setpoint.timestamp = _timestamp;
+				rover_attitude_setpoint.timestamp = _timestamp;
-				rover_rate_setpoint.yaw_rate_setpoint = matrix::sign(_estimated_speed_body_x) * yaw_rate_setpoint;
+				rover_attitude_setpoint.yaw_setpoint = yaw_setpoint;
-				_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+				_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
 
 			} else { // Closed loop yaw control if the yaw rate input is zero (keep current yaw)
 				if (!_stab_yaw_ctl) {

src/modules/rover_ackermann/AckermannAttControl/AckermannAttControl.hpp

@@ -81,9 +81,9 @@ protected:
 
 private:
 	/**
-	 * @brief Generate and publish roverAttitudeSetpoint from manualControlSetpoint (Stab Mode).
+	 * @brief Generate and publish roverAttitudeSetpoint and roverThrottleSetpoint from manualControlSetpoint (Stab Mode).
 	 */
-	void generateAttitudeSetpoint();
+	void generateAttitudeAndThrottleSetpoint();
 
 	/**
 	 * @brief Generate and publish roverRateSetpoint from roverAttitudeSetpoint.

src/modules/rover_ackermann/AckermannRateControl/AckermannRateControl.cpp

@@ -82,7 +82,7 @@ void AckermannRateControl::updateRateControl()
 		}
 
 		if (_vehicle_control_mode.flag_control_manual_enabled) {
-			generateRateSetpoint();
+			generateRateAndThrottleSetpoint();
 		}
 
 		generateSteeringSetpoint();
@@ -102,7 +102,7 @@ void AckermannRateControl::updateRateControl()
 
 }
 
-void AckermannRateControl::generateRateSetpoint()
+void AckermannRateControl::generateRateAndThrottleSetpoint()
 {
 	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;

src/modules/rover_ackermann/AckermannRateControl/AckermannRateControl.hpp

@@ -82,9 +82,9 @@ protected:
 private:
 
 	/**
-	 * @brief Generate and publish roverRateSetpoint from manualControlSetpoint (Acro Mode).
+	 * @brief Generate and publish roverRateSetpoint and roverThrottleSetpoint from manualControlSetpoint (Acro Mode).
 	 */
-	void generateRateSetpoint();
+	void generateRateAndThrottleSetpoint();
 
 	/**
 	 * @brief Generate and publish roverSteeringSetpoint from RoverRateSetpoint.