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rover: remove deprecated module

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This commit is contained in:
chfriedrich98 2025-06-16 15:36:08 +02:00 committed by chfriedrich98
parent dd0dcbb82c
commit e266d1f22f
68 changed files with 0 additions and 1468 deletions
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1
.github/workflows/mavros_mission_tests.yml vendored
View File

@ -24,7 +24,6 @@ jobs:
matrix:
config:
- {vehicle: "iris", mission: "MC_mission_box"}
- {vehicle: "rover", mission: "rover_mission_1"}
steps:
- uses: actions/checkout@v4

33
ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover
View File

@ -1,33 +0,0 @@
#!/bin/sh
#
# @name Rover
#
. ${R}etc/init.d/rc.rover_defaults
param set-default GND_L1_DIST 5
param set-default GND_L1_PERIOD 10
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_I 3
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 4
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2
param set-default CA_AIRFRAME 5
param set-default CA_R_REV 1
param set-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 201
param set-default PWM_MAIN_FUNC6 101
param set-default PWM_MAIN_FUNC7 101

12
ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover
View File

@ -1,12 +0,0 @@
#!/bin/sh
#
# @name Aion Robotics R1 Rover
# @type Rover
# @class Rover
. ${R}etc/init.d/rc.rover_differential_defaults
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 101
param set-default PWM_MAIN_FUNC6 102
param set-default PWM_MAIN_FUNC7 102

2
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
View File

@ -62,8 +62,6 @@ px4_add_romfs_files(
1043_gazebo-classic_standard_vtol_drop
1044_gazebo-classic_plane_lidar
1045_gazebo-classic_quadtailsitter
1060_gazebo-classic_rover
1061_gazebo-classic_r1_rover
1062_flightgear_tf-r1
1070_gazebo-classic_boat

9
ROMFS/px4fmu_common/init.d/CMakeLists.txt
View File

@ -69,15 +69,6 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
)
endif()
if(CONFIG_MODULES_ROVER_POS_CONTROL)
px4_add_romfs_files(
rc.rover_apps
rc.rover_defaults
rc.boat_defaults # hack
)
endif()
if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
px4_add_romfs_files(
rc.rover_differential_apps

49
ROMFS/px4fmu_common/init.d/airframes/59000_generic_ground_vehicle
View File

@ -1,49 +0,0 @@
#!/bin/sh
#
# @name Generic Ground Vehicle (Deprecated)
#
# @type Rover
# @class Rover
#
# @output Motor1 throttle
# @output Servo1 steering
#
# @maintainer
#
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.rover_defaults
param set-default BAT1_N_CELLS 2
param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_MAG_TYPE 1
param set-default FW_AIRSPD_MAX 3
param set-default FW_AIRSPD_MIN 0
param set-default FW_AIRSPD_TRIM 1
# Settings for a typical wheelbase 0f 0.3m
param set-default GND_L1_DIST 1
param set-default GND_L1_PERIOD 5
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_I 3
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_THR_SC 1
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set-default NAV_ACC_RAD 0.5
param set-default CA_AIRFRAME 5
param set-default CA_R_REV 1
param set-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 201
param set-default PWM_MAIN_FUNC6 101
param set-default PWM_MAIN_FUNC7 101

64
ROMFS/px4fmu_common/init.d/airframes/59001_nxpcup_car_dfrobot_gpx
View File

@ -1,64 +0,0 @@
#!/bin/sh
#
# @name NXP Cup car: DF Robot GPX (Deprecated)
#
# @type Rover
# @class Rover
#
# @board px4_fmu-v2 exclude
#
# @output Motor1 Speed of left wheels
# @output Servo1 Steering servo
#
# @maintainer Katrin Moritz
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.rover_defaults
param set-default BAT1_N_CELLS 2
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_MAG_TYPE 1
param set-default FW_AIRSPD_MIN 0
param set-default FW_AIRSPD_TRIM 1
param set-default FW_AIRSPD_MAX 3
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
param set-default GND_MAX_ANG 1.042
param set-default GND_WHEEL_BASE 0.17
# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
# to support negative throttle.
param set-default GND_THR_MIN 0
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_I 3
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_THR_SC 1
param set-default NAV_ACC_RAD 0.5
param set-default CA_AIRFRAME 5
param set-default CA_R_REV 1
param set-default PWM_MAIN_FUNC2 201
param set-default PWM_MAIN_FUNC3 101
param set-default PWM_MAIN_FUNC4 101
# Provide ESC a constant 1500 us pulse to idle
param set-default PWM_MAIN_DIS2 1500
param set-default PWM_MAIN_DIS3 1485
param set-default PWM_MAIN_DIS4 1485
param set-default PWM_MAIN_FAIL3 1485
param set-default PWM_MAIN_FAIL4 1485
param set-default PWM_MAIN_MIN3 970
param set-default PWM_MAIN_MIN4 970

8
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
View File

@ -158,14 +158,6 @@ if(CONFIG_MODULES_ROVER_MECANUM)
)
endif()
if(CONFIG_MODULES_ROVER_POS_CONTROL)
px4_add_romfs_files(
# [59000, 59999] Rover position control (deprecated)
59000_generic_ground_vehicle
59001_nxpcup_car_dfrobot_gpx
)
endif()
if(CONFIG_MODULES_UUV_ATT_CONTROL)
px4_add_romfs_files(
# [60000, 61000] (Unmanned) Underwater Robots

21
ROMFS/px4fmu_common/init.d/rc.rover_apps
View File

@ -1,21 +0,0 @@
#!/bin/sh
#
# Standard apps for unmanned ground vehicles (UGV).
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#
# Start Control Allocator
#
control_allocator start
#
# Start attitude controllers.
#
rover_pos_control start
#
# Start Land Detector.
#
land_detector start rover

19
ROMFS/px4fmu_common/init.d/rc.rover_defaults
View File

@ -1,19 +0,0 @@
#!/bin/sh
#
# UGV default parameters.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
set VEHICLE_TYPE rover
# MAV_TYPE_GROUND_ROVER 10
param set-default MAV_TYPE 10
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 2
param set-default NAV_LOITER_RAD 2
# Temporary.
param set-default NAV_FW_ALT_RAD 1000

1
boards/3dr/ctrl-zero-h7-oem-revg/default.px4board
View File

@ -62,7 +62,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/airmind/mindpx-v2/default.px4board
View File

@ -67,7 +67,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/ark/fmu-v6x/default.px4board
View File

@ -79,7 +79,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y

1
boards/av/x-v1/default.px4board
View File

@ -63,7 +63,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/beaglebone/blue/default.px4board
View File

@ -51,7 +51,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y

1
boards/bluerobotics/navigator/default.px4board
View File

@ -57,7 +57,6 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DYN=y

1
boards/cubepilot/cubeyellow/default.px4board
View File

@ -67,7 +67,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/emlid/navio2/default.px4board
View File

@ -53,7 +53,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y

1
boards/hkust/nxt-dual/default.px4board
View File

@ -60,7 +60,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y

1
boards/hkust/nxt-v1/default.px4board
View File

@ -62,7 +62,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y

1
boards/holybro/durandal-v1/default.px4board
View File

@ -63,7 +63,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/holybro/kakuteh7/default.px4board
View File

@ -66,7 +66,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/holybro/kakuteh7mini/default.px4board
View File

@ -66,7 +66,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/holybro/kakuteh7v2/default.px4board
View File

@ -66,7 +66,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/holybro/pix32v5/default.px4board
View File

@ -71,7 +71,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/modalai/fc-v1/default.px4board
View File

@ -70,7 +70,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/modalai/fc-v2/default.px4board
View File

@ -61,7 +61,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y

1
boards/mro/ctrl-zero-classic/default.px4board
View File

@ -66,7 +66,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/ctrl-zero-f7-oem/default.px4board
View File

@ -65,7 +65,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/ctrl-zero-f7/default.px4board
View File

@ -65,7 +65,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/ctrl-zero-h7-oem/default.px4board
View File

@ -62,7 +62,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/ctrl-zero-h7/default.px4board
View File

@ -63,7 +63,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/pixracerpro/default.px4board
View File

@ -63,7 +63,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/x21-777/default.px4board
View File

@ -66,7 +66,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y

1
boards/mro/x21/default.px4board
View File

@ -67,7 +67,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/nxp/fmuk66-e/default.px4board
View File

@ -68,7 +68,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/nxp/fmuk66-v3/default.px4board
View File

@ -69,7 +69,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/nxp/mr-canhubk3/fmu.px4board
View File

@ -52,7 +52,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y

1
boards/nxp/mr-canhubk3/sysview.px4board
View File

@ -39,7 +39,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

1
boards/nxp/mr-canhubk3/zenoh.px4board
View File

@ -43,7 +43,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_MODULES_ZENOH=y

1
boards/nxp/tropic-community/default.px4board
View File

@ -72,7 +72,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y

1
boards/px4/fmu-v3/default.px4board
View File

@ -71,7 +71,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/px4/fmu-v4/default.px4board
View File

@ -72,7 +72,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/px4/fmu-v4pro/default.px4board
View File

@ -68,7 +68,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/px4/fmu-v5/debug.px4board
View File

@ -22,7 +22,6 @@ CONFIG_MODULES_ESC_BATTERY=n
CONFIG_MODULES_GIMBAL=n
CONFIG_MODULES_GYRO_CALIBRATION=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
CONFIG_MODULES_UUV_ATT_CONTROL=n

1
boards/px4/fmu-v5/default.px4board
View File

@ -74,7 +74,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/px4/fmu-v5/protected.px4board
View File

@ -19,7 +19,6 @@ CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
CONFIG_MODULES_UUV_ATT_CONTROL=n

1
boards/px4/fmu-v5/stackcheck.px4board
View File

@ -36,7 +36,6 @@ CONFIG_MODULES_GIMBAL=n
CONFIG_MODULES_GYRO_CALIBRATION=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
CONFIG_MODULES_UUV_ATT_CONTROL=n

1
boards/px4/fmu-v5/test.px4board
View File

@ -11,7 +11,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=n
CONFIG_DRIVERS_UAVCAN=n
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
CONFIG_BOARD_TESTING=y
CONFIG_DRIVERS_TEST_PPM=y

1
boards/px4/fmu-v5/uavcanv0periph.px4board
View File

@ -17,7 +17,6 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n
CONFIG_MODULES_ESC_BATTERY=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
CONFIG_MODULES_UUV_ATT_CONTROL=n

1
boards/px4/fmu-v6c/default.px4board
View File

@ -67,7 +67,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/px4/fmu-v6u/default.px4board
View File

@ -68,7 +68,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y

1
boards/px4/fmu-v6xrt/default.px4board
View File

@ -81,7 +81,6 @@ CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y

1
boards/px4/raspberrypi/default.px4board
View File

@ -51,7 +51,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y

1
boards/px4/sitl/default.px4board
View File

@ -49,7 +49,6 @@ CONFIG_MODULES_REPLAY=y
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
CONFIG_MODULES_ROVER_MECANUM=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_COMMON_SIMULATION=y
CONFIG_MODULES_SIMULATION_GZ_MSGS=y

1
boards/scumaker/pilotpi/default.px4board
View File

@ -53,7 +53,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/siyi/n7/default.px4board
View File

@ -57,7 +57,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/sky-drones/smartap-airlink/default.px4board
View File

@ -65,7 +65,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/thepeach/k1/default.px4board
View File

@ -65,7 +65,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/thepeach/r1/default.px4board
View File

@ -65,7 +65,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/x-mav/ap-h743v2/default.px4board
View File

@ -61,7 +61,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y

88
integrationtests/python_src/px4_it/mavros/missions/rover_mission_1.plan
View File

@ -1,88 +0,0 @@
{
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 12,
"hoverSpeed": 5,
"items": [
{
"AMSLAltAboveTerrain": 0,
"Altitude": 0,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 1,
"frame": 3,
"params": [
0,
0,
0,
null,
47.39773780490375,
8.54604903179387,
0
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": 0,
"Altitude": 0,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
0,
0,
0,
null,
47.397488802748335,
8.54604396073961,
0
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": 0,
"Altitude": 0,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 3,
"frame": 3,
"params": [
0,
0,
0,
null,
47.397475935201946,
8.545597816497462,
0
],
"type": "SimpleItem"
}
],
"plannedHomePosition": [
47.3977419,
8.5455944,
489
],
"vehicleType": 10,
"version": 2
},
"rallyPoints": {
"points": [
],
"version": 2
},
"version": 1
}

42
src/modules/rover_pos_control/CMakeLists.txt
View File

@ -1,42 +0,0 @@
############################################################################
#
# 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.
#
############################################################################
px4_add_module(
MODULE modules__rover_pos_control
MAIN rover_pos_control
SRCS
RoverPositionControl.cpp
RoverPositionControl.hpp
DEPENDS
l1
PID
)

12
src/modules/rover_pos_control/Kconfig
View File

@ -1,12 +0,0 @@
menuconfig MODULES_ROVER_POS_CONTROL
bool "rover_pos_control"
default n
---help---
Enable support for rover_pos_control
menuconfig USER_ROVER_POS_CONTROL
bool "rover_pos_control running as userspace module"
default y
depends on BOARD_PROTECTED && MODULES_ROVER_POS_CONTROL
---help---
Put rover_pos_control in userspace memory

553
src/modules/rover_pos_control/RoverPositionControl.cpp
View File

@ -1,553 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2017-2021 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 "RoverPositionControl.hpp"
#include <lib/geo/geo.h>
using namespace matrix;
/**
* L1 control app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int rover_pos_control_main(int argc, char *argv[]);
RoverPositionControl::RoverPositionControl() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")) // TODO : do we even need these perf counters
{
}
RoverPositionControl::~RoverPositionControl()
{
perf_free(_loop_perf);
}
bool
RoverPositionControl::init()
{
if (!_vehicle_angular_velocity_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
return true;
}
void RoverPositionControl::parameters_update(bool force)
{
// check for parameter updates
if (_parameter_update_sub.updated() || force) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
updateParams();
_gnd_control.set_l1_damping(_param_l1_damping.get());
_gnd_control.set_l1_period(_param_l1_period.get());
_speed_ctrl.setGains(_param_speed_p.get(), _param_speed_i.get(), _param_speed_d.get());
_speed_ctrl.setIntegralLimit(_param_speed_imax.get());
_speed_ctrl.setOutputLimit(_param_gndspeed_max.get());
}
}
void
RoverPositionControl::vehicle_control_mode_poll()
{
if (_control_mode_sub.updated()) {
_control_mode_sub.copy(&_control_mode);
}
}
void
RoverPositionControl::manual_control_setpoint_poll()
{
if (_control_mode.flag_control_manual_enabled) {
if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) {
float dt = math::constrain(hrt_elapsed_time(&_manual_setpoint_last_called) * 1e-6f, 0.0002f, 0.04f);
if (!_control_mode.flag_control_climb_rate_enabled &&
!_control_mode.flag_control_offboard_enabled) {
if (_control_mode.flag_control_attitude_enabled) {
// STABILIZED mode generate the attitude setpoint from manual user inputs
float roll_body = 0.0;
float pitch_body = 0.0;
/* reset yaw setpoint to current position if needed */
if (_reset_yaw_sp) {
const float vehicle_yaw = Eulerf(Quatf(_vehicle_att.q)).psi();
_manual_yaw_sp = vehicle_yaw;
_reset_yaw_sp = false;
} else {
const float yaw_rate = math::radians(_param_gnd_man_y_max.get());
_att_sp.yaw_sp_move_rate = _manual_control_setpoint.roll * yaw_rate;
_manual_yaw_sp = wrap_pi(_manual_yaw_sp + _att_sp.yaw_sp_move_rate * dt);
}
float yaw_body = _manual_yaw_sp;
_att_sp.thrust_body[0] = _manual_control_setpoint.throttle;
const Quatf q(Eulerf(roll_body, pitch_body, yaw_body));
q.copyTo(_att_sp.q_d);
_att_sp.timestamp = hrt_absolute_time();
_attitude_sp_pub.publish(_att_sp);
} else {
// Set heading from the manual roll input channel
_yaw_control = _manual_control_setpoint.roll; // Nominally yaw: _manual_control_setpoint.yaw;
// Set throttle from the manual throttle channel
_throttle_control = _manual_control_setpoint.throttle;
_reset_yaw_sp = true;
}
} else {
_reset_yaw_sp = true;
}
_manual_setpoint_last_called = hrt_absolute_time();
}
}
}
void
RoverPositionControl::position_setpoint_triplet_poll()
{
if (_pos_sp_triplet_sub.updated()) {
_pos_sp_triplet_sub.copy(&_pos_sp_triplet);
}
}
void
RoverPositionControl::attitude_setpoint_poll()
{
if (_att_sp_sub.updated()) {
_att_sp_sub.copy(&_att_sp);
}
}
void
RoverPositionControl::vehicle_attitude_poll()
{
if (_att_sub.updated()) {
_att_sub.copy(&_vehicle_att);
}
}
bool
RoverPositionControl::control_position(const matrix::Vector2d &current_position,
const matrix::Vector3f &ground_speed, const position_setpoint_triplet_s &pos_sp_triplet)
{
float dt = 0.01; // Using non zero value to a avoid division by zero
if (_control_position_last_called > 0) {
dt = hrt_elapsed_time(&_control_position_last_called) * 1e-6f;
}
_control_position_last_called = hrt_absolute_time();
bool setpoint = true;
if ((_control_mode.flag_control_auto_enabled ||
_control_mode.flag_control_offboard_enabled) && pos_sp_triplet.current.valid) {
/* AUTONOMOUS FLIGHT */
_control_mode_current = UGV_POSCTRL_MODE_AUTO;
/* current waypoint (the one currently heading for) */
matrix::Vector2d curr_wp(pos_sp_triplet.current.lat, pos_sp_triplet.current.lon);
/* previous waypoint */
matrix::Vector2d prev_wp = curr_wp;
if (pos_sp_triplet.previous.valid) {
prev_wp(0) = pos_sp_triplet.previous.lat;
prev_wp(1) = pos_sp_triplet.previous.lon;
}
matrix::Vector2f ground_speed_2d(ground_speed);
float mission_throttle = _param_throttle_cruise.get();
/* Just control the throttle */
if (_param_speed_control_mode.get() == 1) {
/* control the speed in closed loop */
float mission_target_speed = _param_gndspeed_trim.get();
if (PX4_ISFINITE(_pos_sp_triplet.current.cruising_speed) &&
_pos_sp_triplet.current.cruising_speed > 0.1f) {
mission_target_speed = _pos_sp_triplet.current.cruising_speed;
}
// Velocity in body frame
const Dcmf R_to_body(Quatf(_vehicle_att.q).inversed());
const Vector3f vel = R_to_body * Vector3f(ground_speed(0), ground_speed(1), ground_speed(2));
// Compute airspeed control out and just scale it as a constant
_speed_ctrl.setSetpoint(mission_target_speed);
mission_throttle = _param_throttle_speed_scaler.get() * _speed_ctrl.update(vel(0), dt);
// Constrain throttle between min and max
mission_throttle = math::constrain(mission_throttle, _param_throttle_min.get(), _param_throttle_max.get());
} else {
/* Just control throttle in open loop */
if (PX4_ISFINITE(_pos_sp_triplet.current.cruising_throttle) &&
_pos_sp_triplet.current.cruising_throttle > 0.01f) {
mission_throttle = _pos_sp_triplet.current.cruising_throttle;
}
}
float dist_target = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon,
(double)curr_wp(0), (double)curr_wp(1)); // pos_sp_triplet.current.lat, pos_sp_triplet.current.lon);
switch (_pos_ctrl_state) {
case GOTO_WAYPOINT: {
if (dist_target < _param_nav_loiter_rad.get()) {
_pos_ctrl_state = STOPPING; // We are closer than loiter radius to waypoint, stop.
} else {
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
Vector2f prev_wp_local = _global_local_proj_ref.project(prev_wp(0),
prev_wp(1));
_gnd_control.navigate_waypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed_2d);
_throttle_control = mission_throttle;
float desired_r = ground_speed_2d.norm_squared() / math::abs_t(_gnd_control.nav_lateral_acceleration_demand());
float desired_theta = (0.5f * M_PI_F) - atan2f(desired_r, _param_wheel_base.get());
float control_effort = (desired_theta / _param_max_turn_angle.get()) * sign(
_gnd_control.nav_lateral_acceleration_demand());
control_effort = math::constrain(control_effort, -1.0f, 1.0f);
_yaw_control = control_effort;
}
}
break;
case STOPPING: {
_yaw_control = 0.0f;
_throttle_control = 0.0f;
// Note _prev_wp is different to the local prev_wp which is related to a mission waypoint.
float dist_between_waypoints = get_distance_to_next_waypoint((double)_prev_wp(0), (double)_prev_wp(1),
(double)curr_wp(0), (double)curr_wp(1));
if (dist_between_waypoints > 0) {
_pos_ctrl_state = GOTO_WAYPOINT; // A new waypoint has arrived go to it
}
}
break;
default:
PX4_ERR("Unknown Rover State");
_pos_ctrl_state = STOPPING;
break;
}
_prev_wp = curr_wp;
} else {
_control_mode_current = UGV_POSCTRL_MODE_OTHER;
setpoint = false;
}
return setpoint;
}
void
RoverPositionControl::control_velocity(const matrix::Vector3f &current_velocity)
{
const Vector3f desired_velocity{_trajectory_setpoint.velocity};
float dt = 0.01; // Using non zero value to a avoid division by zero
const float mission_throttle = _param_throttle_cruise.get();
const float desired_speed = desired_velocity.norm();
if (desired_speed > 0.01f) {
const Dcmf R_to_body(Quatf(_vehicle_att.q).inversed());
const Vector3f vel = R_to_body * Vector3f(current_velocity(0), current_velocity(1), current_velocity(2));
_speed_ctrl.setSetpoint(desired_speed);
const float control_throttle = _speed_ctrl.update(vel(0), dt);
//Constrain maximum throttle to mission throttle
_throttle_control = math::constrain(control_throttle, 0.0f, mission_throttle);
Vector3f desired_body_velocity;
if (_velocity_frame == VelocityFrame::NED) {
desired_body_velocity = desired_velocity;
} else {
// If the frame of the velocity setpoint is unknown, assume it is in local frame
desired_body_velocity = R_to_body * desired_velocity;
}
const float desired_theta = atan2f(desired_body_velocity(1), desired_body_velocity(0));
float control_effort = desired_theta / _param_max_turn_angle.get();
control_effort = math::constrain(control_effort, -1.0f, 1.0f);
_yaw_control = control_effort;
} else {
_throttle_control = 0.0f;
_yaw_control = 0.0f;
}
}
void
RoverPositionControl::control_attitude(const vehicle_attitude_s &att, const vehicle_attitude_setpoint_s &att_sp)
{
// quaternion attitude control law, qe is rotation from q to qd
const Quatf qe = Quatf(att.q).inversed() * Quatf(att_sp.q_d);
const Eulerf euler_sp = qe;
float control_effort = euler_sp(2) / _param_max_turn_angle.get();
control_effort = math::constrain(control_effort, -1.0f, 1.0f);
_yaw_control = control_effort;
const float control_throttle = att_sp.thrust_body[0];
_throttle_control = math::constrain(control_throttle, 0.0f, 1.0f);
}
void
RoverPositionControl::Run()
{
parameters_update(true);
/* run controller on gyro changes */
vehicle_angular_velocity_s angular_velocity;
if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {
/* check vehicle control mode for changes to publication state */
vehicle_control_mode_poll();
attitude_setpoint_poll();
vehicle_attitude_poll();
manual_control_setpoint_poll();
/* update parameters from storage */
parameters_update();
/* only run controller if position changed */
if (_local_pos_sub.update(&_local_pos)) {
/* load local copies */
_global_pos_sub.update(&_global_pos);
position_setpoint_triplet_poll();
if (!_global_local_proj_ref.isInitialized()
|| (_global_local_proj_ref.getProjectionReferenceTimestamp() != _local_pos.ref_timestamp)) {
_global_local_proj_ref.initReference(_local_pos.ref_lat, _local_pos.ref_lon,
_local_pos.ref_timestamp);
}
// Convert Local setpoints to global setpoints
if (_control_mode.flag_control_offboard_enabled) {
_trajectory_setpoint_sub.update(&_trajectory_setpoint);
// local -> global
_global_local_proj_ref.reproject(
_trajectory_setpoint.position[0], _trajectory_setpoint.position[1],
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
_pos_sp_triplet.current.valid = true;
}
// update the reset counters in any case
_pos_reset_counter = _global_pos.lat_lon_reset_counter;
matrix::Vector3f ground_speed(_local_pos.vx, _local_pos.vy, _local_pos.vz);
matrix::Vector2d current_position(_global_pos.lat, _global_pos.lon);
matrix::Vector3f current_velocity(_local_pos.vx, _local_pos.vy, _local_pos.vz);
if (!_control_mode.flag_control_manual_enabled && _control_mode.flag_control_position_enabled) {
if (control_position(current_position, ground_speed, _pos_sp_triplet)) {
//TODO: check if radius makes sense here
float turn_distance = _param_l1_distance.get();
// publish status
position_controller_status_s pos_ctrl_status{};
pos_ctrl_status.nav_roll = 0.0f;
pos_ctrl_status.nav_pitch = 0.0f;
pos_ctrl_status.nav_bearing = _gnd_control.nav_bearing();
pos_ctrl_status.target_bearing = _gnd_control.target_bearing();
pos_ctrl_status.xtrack_error = _gnd_control.crosstrack_error();
pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon,
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
pos_ctrl_status.acceptance_radius = turn_distance;
pos_ctrl_status.timestamp = hrt_absolute_time();
_pos_ctrl_status_pub.publish(pos_ctrl_status);
}
} else if (!_control_mode.flag_control_manual_enabled && _control_mode.flag_control_velocity_enabled) {
_trajectory_setpoint_sub.update(&_trajectory_setpoint);
control_velocity(current_velocity);
}
}
// Respond to an attitude update and run the attitude controller if enabled
if (_control_mode.flag_control_attitude_enabled
&& !_control_mode.flag_control_position_enabled
&& !_control_mode.flag_control_velocity_enabled) {
control_attitude(_vehicle_att, _att_sp);
}
/* Only publish if any of the proper modes are enabled */
if (_control_mode.flag_control_velocity_enabled ||
_control_mode.flag_control_attitude_enabled ||
_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_manual_enabled) {
vehicle_thrust_setpoint_s v_thrust_sp{};
v_thrust_sp.timestamp = hrt_absolute_time();
v_thrust_sp.xyz[0] = _throttle_control;
v_thrust_sp.xyz[1] = 0.0f;
v_thrust_sp.xyz[2] = 0.0f;
_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
vehicle_torque_setpoint_s v_torque_sp{};
v_torque_sp.timestamp = hrt_absolute_time();
v_torque_sp.xyz[0] = 0.f;
v_torque_sp.xyz[1] = 0.f;
v_torque_sp.xyz[2] = _yaw_control;
_vehicle_torque_setpoint_pub.publish(v_torque_sp);
}
}
}
int RoverPositionControl::task_spawn(int argc, char *argv[])
{
RoverPositionControl *instance = new RoverPositionControl();
if (instance) {
_object.store(instance);
_task_id = task_id_is_work_queue;
if (instance->init()) {
return PX4_OK;
}
} else {
PX4_ERR("alloc failed");
}
delete instance;
_object.store(nullptr);
_task_id = -1;
return PX4_ERROR;
}
int RoverPositionControl::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int RoverPositionControl::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Controls the position of a ground rover using an L1 controller.
Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
### Implementation
Currently, this implementation supports only a few modes:
* Full manual: Throttle and yaw controls are passed directly through to the actuators
* Auto mission: The rover runs missions
* Loiter: The rover will navigate to within the loiter radius, then stop the motors
### Examples
CLI usage example:
$ rover_pos_control start
$ rover_pos_control status
$ rover_pos_control stop
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("rover_pos_control", "controller");
PRINT_MODULE_USAGE_COMMAND("start")
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
int rover_pos_control_main(int argc, char *argv[])
{
return RoverPositionControl::main(argc, argv);
}

215
src/modules/rover_pos_control/RoverPositionControl.hpp
View File

@ -1,215 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2017-2021 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 ackowledgments and credits for the fw wing app are reported in those files.
*
* @author Marco Zorzi <mzorzi@student.ethz.ch>
*/
#include <float.h>
#include <drivers/drv_hrt.h>
#include <lib/geo/geo.h>
#include <lib/l1/ECL_L1_Pos_Controller.hpp>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <lib/pid/PID.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/trajectory_setpoint.h>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
using matrix::Dcmf;
using namespace time_literals;
class RoverPositionControl final : public ModuleBase<RoverPositionControl>, public ModuleParams, public px4::WorkItem
{
public:
RoverPositionControl();
~RoverPositionControl();
RoverPositionControl(const RoverPositionControl &) = delete;
RoverPositionControl operator=(const RoverPositionControl &other) = delete;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
bool init();
private:
void Run() override;
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Publication<vehicle_attitude_setpoint_s> _attitude_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; /**< navigation capabilities publication */
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< control mode subscription */
uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
manual_control_setpoint_s _manual_control_setpoint{}; /**< 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 */
vehicle_attitude_s _vehicle_att{};
trajectory_setpoint_s _trajectory_setpoint{};
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
perf_counter_t _loop_perf; /**< loop performance counter */
hrt_abstime _control_position_last_called{0}; /**<last call of control_position */
hrt_abstime _manual_setpoint_last_called{0};
MapProjection _global_local_proj_ref{};
/* Pid controller for the speed. Here we assume we can control airspeed but the control variable is actually on
the throttle. For now just assuming a proportional scaler between controlled airspeed and throttle output.*/
PID _speed_ctrl{};
// estimator reset counters
uint8_t _pos_reset_counter{0}; // captures the number of times the estimator has reset the horizontal position
ECL_L1_Pos_Controller _gnd_control;
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::Vector2d _prev_wp{0, 0};
enum class VelocityFrame {
NED,
BODY,
} _velocity_frame{VelocityFrame::NED};
float _manual_yaw_sp{0.0};
bool _reset_yaw_sp{true};
float _throttle_control{0.f};
float _yaw_control{0.f};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::GND_L1_PERIOD>) _param_l1_period,
(ParamFloat<px4::params::GND_L1_DAMPING>) _param_l1_damping,
(ParamFloat<px4::params::GND_L1_DIST>) _param_l1_distance,
(ParamFloat<px4::params::GND_SPEED_TRIM>) _param_gndspeed_trim,
(ParamFloat<px4::params::GND_SPEED_MAX>) _param_gndspeed_max,
(ParamInt<px4::params::GND_SP_CTRL_MODE>) _param_speed_control_mode,
(ParamFloat<px4::params::GND_SPEED_P>) _param_speed_p,
(ParamFloat<px4::params::GND_SPEED_I>) _param_speed_i,
(ParamFloat<px4::params::GND_SPEED_D>) _param_speed_d,
(ParamFloat<px4::params::GND_SPEED_IMAX>) _param_speed_imax,
(ParamFloat<px4::params::GND_SPEED_THR_SC>) _param_throttle_speed_scaler,
(ParamFloat<px4::params::GND_THR_MIN>) _param_throttle_min,
(ParamFloat<px4::params::GND_THR_MAX>) _param_throttle_max,
(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_MAN_Y_MAX>) _param_gnd_man_y_max,
(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad /**< loiter radius for Rover */
)
/**
* Update our local parameter cache.
*/
void parameters_update(bool force = false);
void position_setpoint_triplet_poll();
void attitude_setpoint_poll();
void vehicle_control_mode_poll();
void vehicle_attitude_poll();
void manual_control_setpoint_poll();
/**
* Control position.
*/
bool control_position(const matrix::Vector2d &global_pos, const matrix::Vector3f &ground_speed,
const position_setpoint_triplet_s &_pos_sp_triplet);
void control_velocity(const matrix::Vector3f &current_velocity);
void control_attitude(const vehicle_attitude_s &att, const vehicle_attitude_setpoint_s &att_sp);
};

287
src/modules/rover_pos_control/rover_pos_control_params.c
View File

@ -1,287 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013-2017 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.
*
****************************************************************************/
/**
* @file rover_pos_control_params.c
*
* Parameters defined by the position control task for ground rovers
*
* This is a modification of the fixed wing params and it is designed for ground rovers.
* It has been developed starting from the fw module, simplified and improved with dedicated items.
*
* All the ackowledgments and credits for the fw wing app are reported in those files.
*
* @author Marco Zorzi <mzorzi@student.ethz.ch>
*/
/*
* Controller parameters, accessible via MAVLink
*/
/**
* Distance from front axle to rear axle
*
* A value of 0.31 is typical for 1/10 RC cars.
*
* @unit m
* @min 0.0
* @decimal 3
* @increment 0.01
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_WHEEL_BASE, 0.31f);
/**
* L1 distance
*
* This is the distance at which the next waypoint is activated. This should be set
* to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).
*
*
* @unit m
* @min 1.0
* @max 50.0
* @decimal 1
* @increment 0.1
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_L1_DIST, 1.0f);
/**
* L1 period
*
* This is the L1 distance and defines the tracking
* point ahead of the rover it's following.
* Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten
* slowly during tuning until response is sharp without oscillation.
*
* @unit m
* @min 0.5
* @max 50.0
* @decimal 1
* @increment 0.5
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_L1_PERIOD, 5.0f);
/**
* L1 damping
*
* Damping factor for L1 control.
*
* @min 0.6
* @max 0.9
* @decimal 2
* @increment 0.05
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_L1_DAMPING, 0.75f);
/**
* Cruise throttle
*
* This is the throttle setting required to achieve the desired cruise speed.
* 10% is ok for a traxxas stampede vxl with ESC set to training mode
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_THR_CRUISE, 0.1f);
/**
* Throttle limit max
*
* This is the maximum throttle % that can be used by the controller.
* For a Traxxas stampede vxl with the ESC set to training, 30 % is enough
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_THR_MAX, 0.3f);
/**
* Throttle limit min
*
* This is the minimum throttle % that can be used by the controller.
* Set to 0 for rover
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_THR_MIN, 0.0f);
/**
* Control mode for speed
*
* This allows the user to choose between closed loop gps speed or open loop cruise throttle speed
* @min 0
* @max 1
* @value 0 open loop control
* @value 1 close the loop with gps speed
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_INT32(GND_SP_CTRL_MODE, 1);
/**
* Speed proportional gain
*
* This is the proportional gain for the speed closed loop controller
*
* @unit %m/s
* @min 0.005
* @max 50.0
* @decimal 3
* @increment 0.005
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_P, 2.0f);
/**
* Speed Integral gain
*
* This is the integral gain for the speed closed loop controller
*
* @unit %m/s
* @min 0.00
* @max 50.0
* @decimal 3
* @increment 0.005
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_I, 3.0f);
/**
* Speed proportional gain
*
* This is the derivative gain for the speed closed loop controller
*
* @unit %m/s
* @min 0.00
* @max 50.0
* @decimal 3
* @increment 0.005
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_D, 0.001f);
/**
* Speed integral maximum value
*
* This is the maxim value the integral can reach to prevent wind-up.
*
* @unit %m/s
* @min 0.005
* @max 50.0
* @decimal 3
* @increment 0.005
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_IMAX, 1.0f);
/**
* Speed to throttle scaler
*
* This is a gain to map the speed control output to the throttle linearly.
*
* @unit %m/s
* @min 0.005
* @max 50.0
* @decimal 3
* @increment 0.005
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_THR_SC, 1.0f);
/**
* Trim ground speed
*
*
* @unit m/s
* @min 0.0
* @max 40
* @decimal 1
* @increment 0.5
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_TRIM, 3.0f);
/**
* Maximum ground speed
*
*
* @unit m/s
* @min 0.0
* @max 40
* @decimal 1
* @increment 0.5
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_SPEED_MAX, 10.0f);
/**
* Maximum turn angle for Ackerman steering.
*
* At a control output of 0, the steering wheels are at 0 radians.
* At a control output of 1, the steering wheels are at GND_MAX_ANG radians.
*
* @unit rad
* @min 0.0
* @max 3.14159
* @decimal 3
* @increment 0.01
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_MAX_ANG, 0.7854f);
/**
* Max manual yaw rate
*
* @unit deg/s
* @min 0.0
* @max 400
* @decimal 1
* @group Rover Position Control (Deprecated)
*/
PARAM_DEFINE_FLOAT(GND_MAN_Y_MAX, 150.0f);

2
src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
View File

@ -93,8 +93,6 @@ if(gazebo_FOUND)
plane_lidar
px4vision
quadtailsitter
r1_rover
rover
standard_vtol
standard_vtol_drop
tailsitter