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Improved Hold behaviour

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Added local position as a valid source of position
This commit is contained in:
ealdaz
2020-05-13 13:08:41 +02:00
committed by Julian Oes
parent 3897030c6f
commit c96b5246ff
2 changed files with 71 additions and 59 deletions
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src/modules/rover_pos_control/RoverPositionControl.hpp
+19 -10
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@@ -99,10 +99,11 @@ public:
void run() override;
private:
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)};
uORB::Publication<actuator_controls_s> _actuator_controls_pub{ORB_ID(actuator_controls_0)};
int _control_mode_sub{-1}; /**< control mode subscription */
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; /**< navigation capabilities publication */
uORB::Publication<actuator_controls_s> _actuator_controls_pub{ORB_ID(actuator_controls_0)}; /**< actuator controls publication */
int _control_mode_sub{-1}; /**< control mode subscription */
int _global_pos_sub{-1};
int _local_pos_sub{-1};
int _manual_control_sub{-1}; /**< notification of manual control updates */
@@ -113,15 +114,15 @@ private:
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
manual_control_setpoint_s _manual{}; /**< r/c channel data */
manual_control_setpoint_s _manual{}; /**< r/c channel data */
position_setpoint_triplet_s _pos_sp_triplet{}; /**< triplet of mission items */
vehicle_attitude_setpoint_s _att_sp{}; /**< attitude setpoint > */
vehicle_control_mode_s _control_mode{}; /**< control mode */
vehicle_global_position_s _global_pos{}; /**< global vehicle position */
vehicle_local_position_s _local_pos{}; /**< global vehicle position */
actuator_controls_s _act_controls{}; /**< direct control of actuators */
vehicle_attitude_s _vehicle_att{};
sensor_combined_s _sensor_combined{};
actuator_controls_s _act_controls{}; /**< direct control of actuators */
vehicle_attitude_s _vehicle_att{};
sensor_combined_s _sensor_combined{};
SubscriptionData<vehicle_acceleration_s> _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
@@ -138,13 +139,20 @@ private:
ECL_L1_Pos_Controller _gnd_control;
bool _waypoint_reached{false};
enum UGV_POSCTRL_MODE {
UGV_POSCTRL_MODE_AUTO,
UGV_POSCTRL_MODE_OTHER
} _control_mode_current{UGV_POSCTRL_MODE_OTHER}; ///< used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.
enum POS_CTRLSTATES {
GOTO_WAYPOINT,
STOPPING
} _pos_ctrl_state {STOPPING}; /// Position control state machine
/* previous waypoint */
matrix::Vector2f _prev_wp{0.0f, 0.0f};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::GND_L1_PERIOD>) _param_l1_period,
(ParamFloat<px4::params::GND_L1_DAMPING>) _param_l1_damping,
@@ -165,7 +173,8 @@ private:
(ParamFloat<px4::params::GND_THR_CRUISE>) _param_throttle_cruise,
(ParamFloat<px4::params::GND_WHEEL_BASE>) _param_wheel_base,
(ParamFloat<px4::params::GND_MAX_ANG>) _param_max_turn_angle
(ParamFloat<px4::params::GND_MAX_ANG>) _param_max_turn_angle,
(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad /**< loiter radius for Rover */
)
/**