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112 lines
3.9 KiB
C++
112 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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// PX4 includes
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#include <px4_platform_common/module_params.h>
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// Libraries
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#include <lib/rover_control/RoverControl.hpp>
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#include <lib/slew_rate/SlewRate.hpp>
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#include <math.h>
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// uORB includes
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#include <uORB/Subscription.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/actuator_motors.h>
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#include <uORB/topics/actuator_servos.h>
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#include <uORB/topics/rover_steering_setpoint.h>
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#include <uORB/topics/rover_throttle_setpoint.h>
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/**
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* @brief Class for ackermann actuator control.
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*/
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class AckermannActControl : public ModuleParams
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{
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public:
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/**
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* @brief Constructor for AckermannActControl.
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* @param parent The parent ModuleParams object.
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*/
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AckermannActControl(ModuleParams *parent);
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~AckermannActControl() = default;
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/**
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* @brief Update actuator controller.
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*/
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void updateActControl();
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protected:
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/**
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* @brief Update the parameters of the module.
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*/
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void updateParams() override;
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private:
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/**
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* @brief Generate and publish actuatorMotors/actuatorServos setpoints from roverThrottleSetpoint/roverSteeringSetpoint.
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*/
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void generateActuatorSetpoint();
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// uORB subscriptions
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uORB::Subscription _actuator_servos_sub{ORB_ID(actuator_servos)};
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uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
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uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
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uORB::Subscription _rover_throttle_setpoint_sub{ORB_ID(rover_throttle_setpoint)};
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// uORB publications
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uORB::PublicationMulti<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
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uORB::Publication<actuator_servos_s> _actuator_servos_pub{ORB_ID(actuator_servos)};
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// Variables
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hrt_abstime _timestamp{0};
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float _dt{0.f};
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// Controllers
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SlewRate<float> _servo_setpoint{0.f};
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SlewRate<float> _motor_setpoint{0.f};
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// Parameters
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::CA_R_REV>) _param_r_rev,
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(ParamFloat<px4::params::RA_STR_RATE_LIM>) _param_ra_str_rate_limit,
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(ParamFloat<px4::params::RA_MAX_STR_ANG>) _param_ra_max_str_ang,
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(ParamFloat<px4::params::RO_ACCEL_LIM>) _param_ro_accel_limit,
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(ParamFloat<px4::params::RO_DECEL_LIM>) _param_ro_decel_limit,
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(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed
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)
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};
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