PX4-Autopilot/src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.cpp

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#include "MecanumRateControl.hpp"

using namespace time_literals;

MecanumRateControl::MecanumRateControl(ModuleParams *parent) : ModuleParams(parent)
{
	_surface_vehicle_steering_setpoint_pub.advertise();
	_surface_vehicle_rate_status_pub.advertise();
	updateParams();
}

void MecanumRateControl::updateParams()
{
	ModuleParams::updateParams();

	// Set up PID controller
	_pid_yaw_rate.setGains(_param_ro_yaw_rate_p.get(), _param_ro_yaw_rate_i.get(), 0.f);
	_pid_yaw_rate.setIntegralLimit(1.f);
	_pid_yaw_rate.setOutputLimit(1.f);

	// Set up slew rate
	_adjusted_yaw_rate_setpoint.setSlewRate(_param_ro_yaw_accel_limit.get() * M_DEG_TO_RAD_F);
}

void MecanumRateControl::updateRateControl()
{
	hrt_abstime timestamp_prev = _timestamp;
	_timestamp = hrt_absolute_time();
	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;

	if (_vehicle_angular_velocity_sub.updated()) {
		vehicle_angular_velocity_s vehicle_angular_velocity{};
		_vehicle_angular_velocity_sub.copy(&vehicle_angular_velocity);
		_vehicle_yaw_rate = fabsf(vehicle_angular_velocity.xyz[2]) > _param_ro_yaw_rate_th.get() * M_DEG_TO_RAD_F ?
				    vehicle_angular_velocity.xyz[2] : 0.f;
	}

	if (_surface_vehicle_rate_setpoint_sub.updated()) {
		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
		_surface_vehicle_rate_setpoint_sub.copy(&surface_vehicle_rate_setpoint);
		_yaw_rate_setpoint = surface_vehicle_rate_setpoint.yaw_rate_setpoint;
	}

	if (PX4_ISFINITE(_yaw_rate_setpoint)) {
		const float yaw_rate_setpoint = fabsf(_yaw_rate_setpoint) > _param_ro_yaw_rate_th.get() * M_DEG_TO_RAD_F ?
						_yaw_rate_setpoint : 0.f;
		const float speed_diff_normalized = RoverControl::rateControl(_adjusted_yaw_rate_setpoint, _pid_yaw_rate,
						    yaw_rate_setpoint, _vehicle_yaw_rate, _param_ro_max_thr_speed.get(), _param_ro_yaw_rate_corr.get(),
						    _param_ro_yaw_accel_limit.get() * M_DEG_TO_RAD_F,
						    _param_ro_yaw_decel_limit.get() * M_DEG_TO_RAD_F, _param_rm_wheel_track.get(), dt);
		surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
		surface_vehicle_steering_setpoint.timestamp = _timestamp;
		surface_vehicle_steering_setpoint.normalized_steering_setpoint = speed_diff_normalized;
		_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);

	} else {
		_pid_yaw_rate.resetIntegral();
	}

	// Publish rate controller status (logging only)
	surface_vehicle_rate_status_s surface_vehicle_rate_status;
	surface_vehicle_rate_status.timestamp = _timestamp;
	surface_vehicle_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
	surface_vehicle_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
	surface_vehicle_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
	_surface_vehicle_rate_status_pub.publish(surface_vehicle_rate_status);

}

bool MecanumRateControl::runSanityChecks()
{
	bool ret = true;

	if (_param_ro_yaw_rate_limit.get() < FLT_EPSILON) {
		ret = false;
		events::send<float>(events::ID("mecanum_rate_control_conf_invalid_yaw_rate_lim"), events::Log::Error,
				    "Invalid configuration of necessary parameter RO_YAW_RATE_LIM", _param_ro_yaw_rate_limit.get());

	}

	if ((_param_rm_wheel_track.get() < FLT_EPSILON || _param_ro_max_thr_speed.get() < FLT_EPSILON)
	    && _param_ro_yaw_rate_p.get() < FLT_EPSILON) {
		ret = false;
		events::send<float, float, float>(events::ID("mecanum_rate_control_conf_invalid_rate_control"), events::Log::Error,
						  "Invalid configuration for rate control: Neither feed forward (RO_MAX_THR_SPEED) nor feedback (RO_YAW_RATE_P) is setup",
						  _param_rm_wheel_track.get(), _param_ro_max_thr_speed.get(), _param_ro_yaw_rate_p.get());
	}

	return ret;
}