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Use common rate control library

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Increase ground speed trim
Use rate control for pos control
Controls
This commit is contained in:
Jaeyoung Lim
2022-08-20 17:35:53 +02:00
parent 535dabe00d
commit fe8dd05624
8 changed files with 23 additions and 314 deletions
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src/modules/rover_pos_control/RoverPositionControl.hpp
+5 -2
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@@ -41,7 +41,6 @@
* @author Marco Zorzi <mzorzi@student.ethz.ch>
*/
#include <RoverRateControl.hpp>
#include <float.h>
#include <drivers/drv_hrt.h>
@@ -50,6 +49,7 @@
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <lib/pid/pid.h>
#include <lib/rate_control/rate_control.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
@@ -134,6 +134,9 @@ private:
vehicle_local_position_s _local_pos{}; /**< global vehicle position */
actuator_controls_s _act_controls{}; /**< direct control of actuators */
vehicle_attitude_s _vehicle_att{};
vehicle_angular_acceleration_s _vehicle_angular_acceleration{};
vehicle_angular_velocity_s _vehicle_rates{};
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)};
@@ -157,7 +160,7 @@ private:
uint8_t _pos_reset_counter{0}; // captures the number of times the estimator has reset the horizontal position
ECL_L1_Pos_Controller _gnd_control;
RoverRateControl _rate_control;
RateControl _rate_control;
float _steering_input{0.0};
enum UGV_POSCTRL_MODE {