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sv: rename rover parameters to surface vehicle

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This commit is contained in:
chfriedrich98
2025-09-05 13:48:17 +02:00
parent fb05dedb7b
commit 9c38602c12
44 changed files with 338 additions and 338 deletions
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src/modules/rover_differential/DifferentialPosControl/DifferentialPosControl.cpp
+9 -9
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@@ -65,8 +65,8 @@ void DifferentialPosControl::updatePosControl()
}
if (distance_to_target > _param_nav_acc_rad.get() || _arrival_speed > FLT_EPSILON) {
float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
_param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_sv_jerk_limit.get(),
_param_sv_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
speed_setpoint = math::min(speed_setpoint, _cruising_speed);
pure_pursuit_status_s pure_pursuit_status{};
@@ -89,11 +89,11 @@ void DifferentialPosControl::updatePosControl()
if (_current_state == DrivingState::SPOT_TURNING) {
speed_setpoint = 0.f; // stop during spot turning
} else if (_param_ro_speed_red.get() > FLT_EPSILON) {
const float speed_reduction = math::constrain(_param_ro_speed_red.get() * math::interpolate(fabsf(heading_error),
} else if (_param_sv_speed_red.get() > FLT_EPSILON) {
const float speed_reduction = math::constrain(_param_sv_speed_red.get() * math::interpolate(fabsf(heading_error),
0.f, M_PI_F, 0.f, 1.f), 0.f, 1.f);
const float max_speed = math::constrain(_param_ro_max_thr_speed.get() * (1.f - speed_reduction), 0.f,
_param_ro_max_thr_speed.get());
const float max_speed = math::constrain(_param_sv_max_thr_speed.get() * (1.f - speed_reduction), 0.f,
_param_sv_max_thr_speed.get());
speed_setpoint = math::constrain(speed_setpoint, -max_speed, max_speed);
}
@@ -150,7 +150,7 @@ void DifferentialPosControl::updateSubscriptions()
Vector3f velocity_ned(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
Vector3f velocity_xyz = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_ned);
Vector2f velocity_2d = Vector2f(velocity_xyz(0), velocity_xyz(1));
_vehicle_speed = velocity_2d.norm() > _param_ro_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
_vehicle_speed = velocity_2d.norm() > _param_sv_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
}
if (_surface_vehicle_position_setpoint_sub.updated()) {
@@ -162,7 +162,7 @@ void DifferentialPosControl::updateSubscriptions()
surface_vehicle_position_setpoint.arrival_speed : 0.f;
_cruising_speed = PX4_ISFINITE(surface_vehicle_position_setpoint.cruising_speed) ?
surface_vehicle_position_setpoint.cruising_speed :
_param_ro_speed_limit.get();
_param_sv_speed_limit.get();
_target_waypoint_ned = Vector2f(surface_vehicle_position_setpoint.position_ned[0],
surface_vehicle_position_setpoint.position_ned[1]);
_stopped = false;
@@ -173,7 +173,7 @@ bool DifferentialPosControl::runSanityChecks()
{
bool ret = true;
if (_param_ro_speed_limit.get() < FLT_EPSILON) {
if (_param_sv_speed_limit.get() < FLT_EPSILON) {
ret = false;
}