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differential: replace previous waypoint type == idle check with validity check

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This commit is contained in:
Balduin
2026-01-14 13:59:45 +01:00
parent 9b0e1b8378
commit db8e31eaec
2 changed files with 7 additions and 5 deletions
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src/modules/rover_differential/DifferentialDriveModes/DifferentialAutoMode/DifferentialAutoMode.cpp
+5 -4
View File
@@ -51,7 +51,8 @@ void DifferentialAutoMode::autoControl()
if (_position_setpoint_triplet_sub.updated()) { if (_position_setpoint_triplet_sub.updated()) {
position_setpoint_triplet_s position_setpoint_triplet{}; position_setpoint_triplet_s position_setpoint_triplet{};
_position_setpoint_triplet_sub.copy(&position_setpoint_triplet); _position_setpoint_triplet_sub.copy(&position_setpoint_triplet);
int curr_wp_type = position_setpoint_triplet.current.type; const int curr_wp_type = position_setpoint_triplet.current.type;
const bool curr_wp_valid = position_setpoint_triplet.current.valid;
vehicle_local_position_s vehicle_local_position{}; vehicle_local_position_s vehicle_local_position{};
_vehicle_local_position_sub.copy(&vehicle_local_position); _vehicle_local_position_sub.copy(&vehicle_local_position);
@@ -85,7 +86,7 @@ void DifferentialAutoMode::autoControl()
rover_position_setpoint.start_ned[0] = prev_wp_ned(0); rover_position_setpoint.start_ned[0] = prev_wp_ned(0);
rover_position_setpoint.start_ned[1] = prev_wp_ned(1); rover_position_setpoint.start_ned[1] = prev_wp_ned(1);
rover_position_setpoint.arrival_speed = arrivalSpeed(cruising_speed, waypoint_transition_angle, rover_position_setpoint.arrival_speed = arrivalSpeed(cruising_speed, waypoint_transition_angle,
_param_ro_speed_limit.get(), _param_rd_trans_drv_trn.get(), _param_ro_speed_red.get(), curr_wp_type); _param_ro_speed_limit.get(), _param_rd_trans_drv_trn.get(), _param_ro_speed_red.get(), curr_wp_type, curr_wp_valid);
rover_position_setpoint.cruising_speed = cruising_speed; rover_position_setpoint.cruising_speed = cruising_speed;
rover_position_setpoint.yaw = NAN; rover_position_setpoint.yaw = NAN;
_rover_position_setpoint_pub.publish(rover_position_setpoint); _rover_position_setpoint_pub.publish(rover_position_setpoint);
@@ -93,11 +94,11 @@ void DifferentialAutoMode::autoControl()
} }
float DifferentialAutoMode::arrivalSpeed(const float cruising_speed, const float waypoint_transition_angle, float DifferentialAutoMode::arrivalSpeed(const float cruising_speed, const float waypoint_transition_angle,
const float max_speed, const float trans_drv_trn, const float speed_red, int curr_wp_type) const float max_speed, const float trans_drv_trn, const float speed_red, const int curr_wp_type, const bool curr_wp_valid)
{ {
// Upcoming stop // Upcoming stop
if (!PX4_ISFINITE(waypoint_transition_angle) || waypoint_transition_angle < M_PI_F - trans_drv_trn if (!PX4_ISFINITE(waypoint_transition_angle) || waypoint_transition_angle < M_PI_F - trans_drv_trn
|| curr_wp_type == position_setpoint_s::SETPOINT_TYPE_LAND) { || curr_wp_type == position_setpoint_s::SETPOINT_TYPE_LAND || !curr_wp_valid) {
return 0.f; return 0.f;
} }
src/modules/rover_differential/DifferentialDriveModes/DifferentialAutoMode/DifferentialAutoMode.hpp
+2 -1
View File
@@ -81,10 +81,11 @@ private:
* @param trans_drv_trn Heading error threshold to switch from driving to turning [rad]. * @param trans_drv_trn Heading error threshold to switch from driving to turning [rad].
* @param speed_red Tuning parameter for the speed reduction during waypoint transition. * @param speed_red Tuning parameter for the speed reduction during waypoint transition.
* @param curr_wp_type Type of the current waypoint. * @param curr_wp_type Type of the current waypoint.
* @param curr_wp_valid Validity flag of the current waypoint.
* @return Speed setpoint [m/s]. * @return Speed setpoint [m/s].
*/ */
float arrivalSpeed(const float cruising_speed, const float waypoint_transition_angle, const float max_speed, float arrivalSpeed(const float cruising_speed, const float waypoint_transition_angle, const float max_speed,
const float trans_drv_trn, const float speed_red, int curr_wp_type); const float trans_drv_trn, const float speed_red, const int curr_wp_type, const bool curr_wp_valid);
// uORB subscriptions // uORB subscriptions
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)}; uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};