forked from Archive/PX4-Autopilot
cleanup
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1f332d561e
commit
1ae520b764
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@ -35,13 +35,10 @@
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using namespace time_literals;
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using namespace time_literals;
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using namespace matrix;
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using namespace matrix;
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// namespace AckermannDrive
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// {
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AckermannDrive::AckermannDrive() :
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AckermannDrive::AckermannDrive() :
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ModuleParams(nullptr),
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
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// _differential_drive_control(this)
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{
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{
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updateParams();
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updateParams();
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}
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}
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@ -64,13 +61,7 @@ void AckermannDrive::Run()
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exit_and_cleanup();
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exit_and_cleanup();
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}
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}
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if (_param_ca_airframe.get() == DIFFERENTIAL_DRIVE) {
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_ackermann_drive_control.Update();
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// _differential_drive_control.Update();
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return;
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} else if (_param_ca_airframe.get() == ACKERMANN_DRIVE) {
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_ackermann_drive_control.Update();
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}
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}
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}
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int AckermannDrive::task_spawn(int argc, char *argv[])
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int AckermannDrive::task_spawn(int argc, char *argv[])
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@ -123,5 +114,3 @@ extern "C" __EXPORT int ackermann_drive_main(int argc, char *argv[])
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{
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{
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return AckermannDrive::main(argc, argv);
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return AckermannDrive::main(argc, argv);
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}
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}
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// } // namespace rover_control
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@ -57,16 +57,8 @@
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#include <math.h>
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#include <math.h>
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// Local includes
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// Local includes
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// #include <DifferentialDriveKinematics.hpp>
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// #include "DifferentialDriveControl.hpp"
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#include "AckermannDriveControl/AckermannDriveControl.hpp"
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#include "AckermannDriveControl/AckermannDriveControl.hpp"
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#define DIFFERENTIAL_DRIVE 6
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#define ACKERMANN_DRIVE 5
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// namespace rover_control
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// {
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class AckermannDrive : public ModuleBase<AckermannDrive>, public ModuleParams,
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class AckermannDrive : public ModuleBase<AckermannDrive>, public ModuleParams,
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public px4::ScheduledWorkItem
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public px4::ScheduledWorkItem
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{
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{
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@ -91,13 +83,9 @@ protected:
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private:
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private:
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void Run() override;
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void Run() override;
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// differential_drive_control::DifferentialDriveControl _differential_drive_control{this};
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differential_drive_control::AckermannDriveControl _ackermann_drive_control{this};
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differential_drive_control::AckermannDriveControl _ackermann_drive_control{this};
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DEFINE_PARAMETERS(
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe
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(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe
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)
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)
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};
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};
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// } // namespace rover_control
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@ -1,7 +1,7 @@
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module_name: Differential Drive Control
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module_name: Ackermann Drive Control
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parameters:
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parameters:
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- group: Rover Differential Drive
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- group: Rover Ackermann Drive
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definitions:
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definitions:
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RDD_WHEEL_BASE:
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RDD_WHEEL_BASE:
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description:
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description:
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