40 Commits

Author	SHA1	Message	Date
Daniel Agar	45912066d2	fix copyright header year range	2023-01-14 09:16:16 -05:00
Andrew Wilkins	22f7d913bd	rover_pos_control: thrust normalization for joystick input (#20885)	2023-01-13 20:11:39 -05:00
Matthias Grob	331cb21dee	manual_control_setpoint: change stick axes naming ... In review it was requested to have a different name for manual_control_setpoint.z because of the adjusted range. I started to investigate what naming is most intuitive and found that most people recognize the stick axes as roll, pitch, yaw, throttle. It comes at no surprise because other autopilots and APIs seem to share this convention. While changing the code I realized that even within the code base the axes are usually assigned to a variable with that name or have comments next to the assignment clarifying the axes using these names.	2022-11-28 19:25:55 +01:00
Matthias Grob	8ca28f3796	Separate message for trajectory setpoint	2022-05-12 17:19:48 +02:00
Jaeyoung-Lim	106044be38	Initialize global local projection for rovers ... This commit initializes the global and local projection for rovers	2022-03-24 08:57:53 -04:00
Daniel Agar	6135bb384b	cleanup module callback registration failed errors	2022-03-23 20:44:50 -04:00
Jaeyoung Lim	28d34bf095	Convert L1 controller to local coordinates	2022-03-23 13:34:13 +01:00
Beat Küng	4becd6e4c7	rover: publish vehicle_thrust_setpoint & vehicle_torque_setpoint	2021-12-24 20:06:13 -05:00
Thomas Debrunner	8db7a6225b	geo: Moved the map_projection_* functions and state into a self-contained C++ class	2021-12-06 14:30:14 +01:00
Matthias Grob	fabf865411	Use backwards compatible manual_control_setpoint instead of manual_control_input	2021-11-09 16:05:25 +01:00
Julian Oes	6a6b8d49fc	msg: re-use manual_control_input in setpoint ... This way we avoid duplication between manual_control_input and manual_control_setpoint.	2021-11-09 16:05:25 +01:00
Daniel Agar	883624d915	lib/geo: move from ecl	2021-07-15 10:38:24 -04:00
benjinne	3664d9e4ce	rover: publish actuator controls with rate of gyro ... Some ESC's with DShot don't initialize otherwise (as the 200Hz of the vehicle attitude rate is too low).	2021-04-26 08:53:20 +02:00
Daniel Agar	d37510a43d	update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields	2021-03-09 10:36:34 -05:00
Daniel Agar	263b00b65f	ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage ... - vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink	2021-03-05 18:25:14 -05:00
Lorenz Meier	4c5d2363d4	Rover control: Use roll sticks ... It is more intuitive to use the roll stick as lateral control input given that drones defined this category, plus this is how consumer car / rover radio controls have been working already.	2021-02-14 11:17:28 +01:00
Jaeyoung-Lim	fdd9b3ea51	Add support for stabilized flight mode for rovers ... This commit adds support for stabilized flight mode for rovers, which enables the rover tracking a fixed heading that is set with a manual input	2021-02-14 11:17:28 +01:00
Jaeyoung-Lim	3c12573e93	Use uORB::Subscription for rover_pos_control ... Modernize rover position control	2021-02-14 11:17:28 +01:00
Lorenz Meier	ec2cf70276	Rover position controller: Modernize implementation ... This commit moves the steering output from yaw to the roll channel to better reflect the lateral control input / reaction mapping. It also removes old unused parameters and modernizes the mainloop to remove unnecessary polling.	2021-02-14 11:17:28 +01:00
Daniel Agar	1981519aad	L1 position controller: use double precision floating point for all lat/lon	2021-02-12 21:59:56 +01:00
Daniel Agar	e56dfe6497	rover_pos_control: revert sensor_combined purge ... - sensor_combined is only used for scheduling in this module under certain circumstances and should be reviewed and replaced - fixes https://github.com/PX4/Firmware/issues/15628	2020-09-01 21:09:33 -04:00
Daniel Agar	53b3dfa64e	rover_pos_control: remove unused sensor_combined subscription	2020-08-23 17:38:27 -04:00
Matthias Grob	e9eae1bd76	Refactor: Name manual_control_setpoint the same way everywhere	2020-06-22 12:06:27 -04:00
ealdaz	c96b5246ff	Improved Hold behaviour ... Added local position as a valid source of position	2020-05-13 13:08:41 +02:00
flbernier	45e88aa8d3	Correct Ki and Kd inversion in rover pid_set_parameters	2020-04-17 08:18:10 +02:00
Matthias Grob	eb3b0f6b55	mathlib: get rid of now duplicate sign() function ... Instead use the one that was copied to the matrix library in https://github.com/PX4/Matrix/pull/116/	2020-03-17 10:01:42 +01:00
Daniel Agar	a89b69b0ea	vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz) ... * attitude_estimator_q: get velocity from local position (if available)	2020-03-11 23:57:43 -04:00
Jannik Beyerstedt	4ce03dfc1e	Add support for offboard ActuatorControl set points to RoverPositionControl (fixes #13192) (#13314) ... * fix formatting * RoverPositionControl: Support Actuator Control Setpoints (fixes #13192) * RoverPositonControl: remove control modes, that aren't currently implemented * RoverPositionControl: use new Publication API	2019-11-20 15:01:51 +01:00
Jannik Beyerstedt	bbc028a9e9	RoverPositionControl: make offboard attitude usable without GPS	2019-11-19 10:05:25 +01:00
Jannik Beyerstedt	38103654e9	RoverPositionContro: Enable driving backwards in attitude control	2019-11-17 11:29:45 +01:00
JaeyoungLim	b999581d2f	Rover: Handle velocity frames correctly for offboard velocity control	2019-11-05 16:29:04 -05:00
Jaeyoung-Lim	1951e416b1	Enable rover attitude setpoint	2019-11-03 09:54:22 -05:00
Daniel Agar	6f1e132286	clang-tidy: enable readability-redundant-control-flow and fix	2019-10-28 10:50:31 -04:00
JaeyoungLim	2fc5789d68	Support offboard velocity setpoints for rover (#13225) ... * Enable velocity control for rover * Address comments * Use pid for speed control * Calculate steering commands correctly * Use local velocity estimates to avoid global position dependency	2019-10-24 10:40:20 +02:00
Daniel Agar	c8e59c4e39	parameter_update use uORB::Subscription consistently	2019-09-29 10:49:03 -04:00
JaeyoungLim	950dbc1d2e	Rover: Enable Offboard support for Rover position control	2019-08-21 12:04:19 -04:00
Daniel Agar	a917f22b65	sensors: create vehicle_acceleration module (#12597)	2019-08-07 05:05:48 -04:00
Timothy Scott	80f2603b17	Fixed timing of rover pos control	2019-07-25 10:53:39 -04:00
Timothy Scott	2ed8ebf889	rover_pos_control: refactor to ModuleBase and use C++ Param API	2019-07-23 11:16:52 +02:00
Timothy Scott	2ed00c9cb6	Rover: Rewrote gnd_pos_control and removed gnd_att_control (#12239)	2019-07-11 09:39:13 -04:00