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138 lines
5.0 KiB
C++
138 lines
5.0 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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#include <px4_platform_common/events.h>
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// Libraries
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#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
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#include <lib/pid/PID.hpp>
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#include <matrix/matrix/math.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/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
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#include <uORB/topics/surface_vehicle_speed_status.h>
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#include <uORB/topics/surface_vehicle_speed_setpoint.h>
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#include <uORB/topics/surface_vehicle_steering_setpoint.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_local_position.h>
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using namespace matrix;
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/**
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* @brief Class for differential speed control.
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*/
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class DifferentialSpeedControl : public ModuleParams
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{
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public:
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/**
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* @brief Constructor for DifferentialSpeedControl.
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* @param parent The parent ModuleParams object.
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*/
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DifferentialSpeedControl(ModuleParams *parent);
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~DifferentialSpeedControl() = default;
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/**
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* @brief Generate and publish SurfaceVehicleThrottleSetpoint from SurfaceVehicleSpeedSetpoint.
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*/
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void updateSpeedControl();
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/**
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* @brief Check if the necessary parameters are set.
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* @return True if all checks pass.
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*/
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bool runSanityChecks();
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/**
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* @brief Reset speed controller.
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*/
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void reset() {_pid_speed.resetIntegral(); _speed_setpoint = NAN; _adjusted_speed_setpoint.setForcedValue(0.f);};
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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 Update uORB subscriptions used in speed controller.
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*/
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void updateSubscriptions();
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/**
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* @brief Calculate the speed setpoint based on the current state.
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* @return Speed setpoint.
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*/
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float calcSpeedSetpoint();
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// uORB subscriptions
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
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uORB::Subscription _surface_vehicle_speed_setpoint_sub{ORB_ID(surface_vehicle_speed_setpoint)};
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uORB::Subscription _surface_vehicle_steering_setpoint_sub{ORB_ID(surface_vehicle_steering_setpoint)};
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// uORB publications
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uORB::Publication<surface_vehicle_throttle_setpoint_s> _surface_vehicle_throttle_setpoint_pub{ORB_ID(surface_vehicle_throttle_setpoint)};
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uORB::Publication<surface_vehicle_speed_status_s> _surface_vehicle_speed_status_pub{ORB_ID(surface_vehicle_speed_status)};
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// Variables
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hrt_abstime _timestamp{0};
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Quatf _vehicle_attitude_quaternion{};
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float _vehicle_speed{0.f}; // [m/s] Positiv: Forwards, Negativ: Backwards
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float _speed_setpoint{NAN};
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float _normalized_speed_diff{NAN};
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// Controllers
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PID _pid_speed;
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SlewRate<float> _adjusted_speed_setpoint{0.f};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,
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(ParamFloat<px4::params::RO_SPEED_P>) _param_ro_speed_p,
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(ParamFloat<px4::params::RO_SPEED_I>) _param_ro_speed_i,
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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_JERK_LIM>) _param_ro_jerk_limit,
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(ParamFloat<px4::params::RO_SPEED_LIM>) _param_ro_speed_limit,
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(ParamFloat<px4::params::RO_SPEED_TH>) _param_ro_speed_th
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)
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};
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