Matthias Grob
138 lines
5.5 KiB
C++
138 lines
5.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2024 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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// uORB includes
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/rover_ackermann_setpoint.h>
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#include <uORB/topics/rover_ackermann_status.h>
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#include <uORB/topics/actuator_motors.h>
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#include <uORB/topics/actuator_servos.h>
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// Standard libraries
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#include <lib/pid/PID.hpp>
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#include <matrix/matrix/math.hpp>
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#include <matrix/math.hpp>
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#include <mathlib/mathlib.h>
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#include <math.h>
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#include <lib/slew_rate/SlewRate.hpp>
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using namespace matrix;
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using namespace time_literals;
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/**
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* @brief Class for ackermann rover guidance.
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*/
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class RoverAckermannControl : public ModuleParams
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{
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public:
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/**
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* @brief Constructor for RoverAckermannControl.
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* @param parent The parent ModuleParams object.
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*/
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RoverAckermannControl(ModuleParams *parent);
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~RoverAckermannControl() = default;
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/**
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* @brief Compute motor commands based on setpoints
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* @param vehicle_forward_speed Measured speed in body x direction. Positiv: forwards, Negativ: backwards [m/s]
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* @param vehicle_yaw Measured yaw [rad]
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* @param vehicle_lateral_acceleration Measured acceleration in body y direction. Positiv: right, Negativ: left [m/s^s]
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*/
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void computeMotorCommands(float vehicle_forward_speed, float vehicle_yaw, float vehicle_lateral_acceleration);
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/**
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* @brief Reset PID controllers and slew rates
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*/
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void resetControllers();
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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 Compute normalized forward speed setpoint by applying slew rates
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* to the forward speed setpoint and doing closed loop speed control if enabled.
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* @param forward_speed_setpoint Forward speed setpoint [m/s].
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* @param vehicle_forward_speed Actual forward speed [m/s].
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* @param dt Time since last update [s].
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* @param normalized Indicates if the forward speed setpoint is already normalized.
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* @return Normalized forward speed setpoint with applied slew rates [-1, 1].
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*/
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float calcNormalizedSpeedSetpoint(float forward_speed_setpoint, float vehicle_forward_speed, float dt, bool normalized);
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// uORB subscriptions
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uORB::Subscription _rover_ackermann_setpoint_sub{ORB_ID(rover_ackermann_setpoint)};
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rover_ackermann_setpoint_s _rover_ackermann_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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uORB::Publication<rover_ackermann_status_s> _rover_ackermann_status_pub{ORB_ID(rover_ackermann_status)};
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rover_ackermann_status_s _rover_ackermann_status{};
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// Variables
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hrt_abstime _timestamp{0};
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// Controllers
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PID _pid_throttle; // The PID controller for the closed loop speed control
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PID _pid_lat_accel; // The PID controller for the closed loop speed control
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SlewRate<float> _steering_with_rate_limit{0.f};
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SlewRate<float> _forward_speed_setpoint_with_accel_limit{0.f};
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// Parameters
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::RA_SPEED_P>) _param_ra_speed_p,
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(ParamFloat<px4::params::RA_SPEED_I>) _param_ra_speed_i,
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(ParamFloat<px4::params::RA_LAT_ACCEL_P>) _param_ra_lat_accel_p,
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(ParamFloat<px4::params::RA_LAT_ACCEL_I>) _param_ra_lat_accel_i,
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(ParamFloat<px4::params::RA_MAX_ACCEL>) _param_ra_max_accel,
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(ParamFloat<px4::params::RA_MAX_DECEL>) _param_ra_max_decel,
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(ParamFloat<px4::params::RA_MAX_SPEED>) _param_ra_max_speed,
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(ParamFloat<px4::params::RA_MAX_THR_SPEED>) _param_ra_max_thr_speed,
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(ParamFloat<px4::params::RA_MAX_STR_ANG>) _param_ra_max_steer_angle,
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(ParamFloat<px4::params::RA_MAX_STR_RATE>) _param_ra_max_steering_rate,
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(ParamFloat<px4::params::RA_WHEEL_BASE>) _param_ra_wheel_base,
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(ParamInt<px4::params::CA_R_REV>) _param_r_rev
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)
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};
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