PX4-Autopilot/src/modules/rover_ackermann/AckermannRateControl/AckermannRateControl.hpp

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#pragma once

// PX4 includes
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/events.h>

// Libraries
#include <lib/rover_control/RoverControl.hpp>
#include <lib/pid/PID.hpp>
#include <lib/slew_rate/SlewRate.hpp>
#include <math.h>

// uORB includes
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/rover_rate_setpoint.h>
#include <uORB/topics/rover_throttle_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/rover_steering_setpoint.h>
#include <uORB/topics/rover_rate_status.h>
#include <uORB/topics/actuator_motors.h>

/**
 * @brief Class for ackermann rate control.
 */
class AckermannRateControl : public ModuleParams
{
public:
	/**
	 * @brief Constructor for AckermannRateControl.
	 * @param parent The parent ModuleParams object.
	 */
	AckermannRateControl(ModuleParams *parent);
	~AckermannRateControl() = default;

	/**
	 * @brief Update rate controller.
	 */
	void updateRateControl();

protected:
	/**
	 * @brief Update the parameters of the module.
	 */
	void updateParams() override;

private:

	/**
	 * @brief Generate and publish roverRateSetpoint and roverThrottleSetpoint from manualControlSetpoint (Acro Mode).
	 */
	void generateRateAndThrottleSetpoint();

	/**
	 * @brief Generate and publish roverSteeringSetpoint from RoverRateSetpoint.
	 */
	void generateSteeringSetpoint();

	/**
	 * @brief Check if the necessary parameters are set.
	 * @return True if all checks pass.
	 */
	bool runSanityChecks();

	// uORB subscriptions
	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
	uORB::Subscription _rover_rate_setpoint_sub{ORB_ID(rover_rate_setpoint)};
	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
	vehicle_control_mode_s _vehicle_control_mode{};
	rover_rate_setpoint_s _rover_rate_setpoint{};

	// uORB publications
	uORB::Publication<rover_rate_setpoint_s> _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
	uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
	uORB::Publication<rover_rate_status_s> _rover_rate_status_pub{ORB_ID(rover_rate_status)};

	// Variables
	float _estimated_speed_body_x{0.f}; /*Vehicle speed estimated by interpolating [actuatorMotorSetpoint,  _estimated_speed_body_x]
					       between [0, 0] and [1, _param_ro_max_thr_speed].*/
	float _max_yaw_rate{0.f};
	float _vehicle_yaw_rate{0.f};
	hrt_abstime _timestamp{0};
	float _dt{0.f}; // Time since last update [s].
	bool _prev_param_check_passed{true};

	// Controllers
	PID _pid_yaw_rate;
	SlewRate<float> _yaw_rate_setpoint{0.f};

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,
		(ParamFloat<px4::params::RA_WHEEL_BASE>)    _param_ra_wheel_base,
		(ParamFloat<px4::params::RA_MAX_STR_ANG>)   _param_ra_max_str_ang,
		(ParamFloat<px4::params::RO_YAW_RATE_LIM>)  _param_ro_yaw_rate_limit,
		(ParamFloat<px4::params::RO_YAW_RATE_TH>)   _param_ro_yaw_rate_th,
		(ParamFloat<px4::params::RO_YAW_RATE_P>)    _param_ro_yaw_rate_p,
		(ParamFloat<px4::params::RO_YAW_RATE_I>)    _param_ro_yaw_rate_i,
		(ParamFloat<px4::params::RO_YAW_ACCEL_LIM>) _param_ro_yaw_accel_limit,
		(ParamFloat<px4::params::RO_SPEED_TH>)      _param_ro_speed_th
	)
};