unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175)

src/modules/gnd_att_control/GroundRoverAttitudeControl.hpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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.
+ *
+ ****************************************************************************/
+
+/**
+ *
+ * This module is a modification of the fixed wing module and it is designed for ground rovers.
+ * It has been developed starting from the fw module, simplified and improved with dedicated items.
+ *
+ * All the acknowledgments and credits for the fw wing app are reported in those files.
+ *
+ * @author Marco Zorzi <mzorzi@student.ethz.ch>
+ */
+
+#include <px4_config.h>
+#include <px4_defines.h>
+#include <px4_tasks.h>
+#include <px4_posix.h>
+
+#include <drivers/drv_hrt.h>
+#include <mathlib/mathlib.h>
+#include <systemlib/param/param.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/perf_counter.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/control_state.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/uORB.h>
+
+using matrix::Eulerf;
+using matrix::Quatf;
+
+class GroundRoverAttitudeControl
+{
+public:
+	GroundRoverAttitudeControl();
+	~GroundRoverAttitudeControl();
+
+	int start();
+	bool task_running() { return _task_running; }
+
+private:
+
+	bool		_task_should_exit{false};		/**< if true, attitude control task should exit */
+	bool		_task_running{false};			/**< if true, task is running in its mainloop */
+	int		_control_task{-1};			/**< task handle */
+
+	int		_att_sp_sub{-1};			/**< vehicle attitude setpoint */
+	int		_battery_status_sub{-1};		/**< battery status subscription */
+	int		_ctrl_state_sub{-1};		/**< control state subscription */
+	int		_manual_sub{-1};			/**< notification of manual control updates */
+	int		_params_sub{-1};			/**< notification of parameter updates */
+	int		_vcontrol_mode_sub{-1};		/**< vehicle status subscription */
+
+	orb_advert_t	_actuators_0_pub{nullptr};		/**< actuator control group 0 setpoint */
+
+	actuator_controls_s			_actuators {};		/**< actuator control inputs */
+	battery_status_s				_battery_status {};	/**< battery status */
+	control_state_s				_ctrl_state {};	/**< control state */
+	manual_control_setpoint_s		_manual {};		/**< r/c channel data */
+	vehicle_attitude_setpoint_s		_att_sp {};		/**< vehicle attitude setpoint */
+	vehicle_control_mode_s			_vcontrol_mode {};		/**< vehicle control mode */
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
+	perf_counter_t	_nonfinite_output_perf;		/**< performance counter for non finite output */
+
+	bool		_debug{false};				/**< if set to true, print debug output */
+
+	struct {
+		float w_p;		/**< Proportional gain of the steering controller */
+		float w_i;		/**< Integral gain of the steering controller */
+		float w_d;		/**< Derivative of the steering controller */
+		float w_imax;		/**< maximum integrator level of the steering controller */
+
+		float trim_yaw;
+		float man_yaw_scale; 			/**< scale factor applied to yaw actuator control in pure manual mode */
+
+		int32_t bat_scale_en;			/**< Battery scaling enabled */
+
+	} _parameters{};			/**< local copies of interesting parameters */
+
+	struct {
+		param_t w_p;
+		param_t w_i;
+		param_t w_d;
+		param_t w_imax;
+
+		param_t trim_yaw;
+		param_t man_yaw_scale;
+
+		param_t bat_scale_en;
+
+	} _parameter_handles{};		/**< handles for interesting parameters */
+
+	PID_t			_steering_ctrl{};
+
+	void		parameters_update();
+
+	void		vehicle_control_mode_poll();
+	void		manual_control_setpoint_poll();
+	void		vehicle_attitude_setpoint_poll();
+	void		battery_status_poll();
+
+	static void	task_main_trampoline(int argc, char *argv[]);
+	void		task_main();
+
+};