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DifferentialDrive: Rework structure 

3 Components Guidance - Control - Allocation
with their corresponding uORB interface.
This commit is contained in:
Matthias Grob 2024-01-23 16:33:27 +01:00
parent f85144ca76
commit 396ef222ee
16 changed files with 405 additions and 228 deletions
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2
msg/DifferentialDriveSetpoint.msg
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@ -1,6 +1,8 @@
uint64 timestamp # time since system start (microseconds)
float32 speed # [m/s] collective roll-off speed in body x-axis
bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward
float32 yaw_rate # [rad/s] yaw rate
bool closed_loop_yaw_rate_control # true if yaw rate is controlled using gyroscope feedback, false if direct feed-forward
# TOPICS differential_drive_setpoint differential_drive_control_output

9
src/modules/differential_drive/CMakeLists.txt
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@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2023 PX4 Development Team. All rights reserved.
# Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -31,8 +31,9 @@
#
############################################################################
add_subdirectory(DifferentialDriveKinematics)
add_subdirectory(DifferentialDriveControl)
add_subdirectory(DifferentialDriveGuidance)
add_subdirectory(DifferentialDriveKinematics)
px4_add_module(
MODULE modules__differential_drive
@ -41,9 +42,9 @@ px4_add_module(
DifferentialDrive.cpp
DifferentialDrive.hpp
DEPENDS
DifferentialDriveKinematics
DifferentialDriveControl
DifferentialDriveGuidance
pid
DifferentialDriveKinematics
px4_work_queue
modules__control_allocator # for parameter CA_R_REV
MODULE_CONFIG

119
src/modules/differential_drive/DifferentialDrive.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
* Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,16 +33,11 @@
#include "DifferentialDrive.hpp"
using namespace time_literals;
using namespace matrix;
DifferentialDrive::DifferentialDrive() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
{
updateParams();
pid_init(&_angular_velocity_pid, PID_MODE_DERIVATIV_NONE, 0.001f);
pid_init(&_speed_pid, PID_MODE_DERIVATIV_NONE, 0.001f);
}
bool DifferentialDrive::init()
@ -55,28 +50,15 @@ void DifferentialDrive::updateParams()
{
ModuleParams::updateParams();
pid_set_parameters(&_angular_velocity_pid,
_param_rdd_p_gain_angular_velocity.get(), // Proportional gain
_param_rdd_i_gain_angular_velocity.get(), // Integral gain
0, // Derivative gain
20, // Integral limit
200); // Output limit
pid_set_parameters(&_speed_pid,
_param_rdd_p_gain_speed.get(), // Proportional gain
_param_rdd_i_gain_speed.get(), // Integral gain
0, // Derivative gain
2, // Integral limit
200); // Output limit
_max_speed = _param_rdd_max_wheel_speed.get() * _param_rdd_wheel_radius.get();
_max_angular_velocity = _max_speed / (_param_rdd_wheel_base.get() / 2.f);
_differential_drive_kinematics.setWheelBase(_param_rdd_wheel_base.get());
_max_speed = _param_rdd_wheel_speed.get() * _param_rdd_wheel_radius.get();
_differential_drive_guidance.setMaxSpeed(_max_speed);
_differential_drive_kinematics.setMaxSpeed(_max_speed);
_differential_guidance_controller.setMaxSpeed(_max_speed);
_max_angular_velocity = _max_speed / (_param_rdd_wheel_base.get() / 2.f);
_differential_drive_guidance.setMaxAngularVelocity(_max_angular_velocity);
_differential_drive_kinematics.setMaxAngularVelocity(_max_angular_velocity);
_differential_guidance_controller.setMaxAngularVelocity(_max_angular_velocity);
}
void DifferentialDrive::Run()
@ -87,13 +69,12 @@ void DifferentialDrive::Run()
}
hrt_abstime now = hrt_absolute_time();
const double dt = static_cast<double>(math::min((now - _time_stamp_last), kTimeoutUs)) / 1e6;
const float dt = math::min((now - _time_stamp_last), 5000_ms) / 1e6f;
_time_stamp_last = now;
if (_parameter_update_sub.updated()) {
parameter_update_s parameter_update;
_parameter_update_sub.copy(&parameter_update);
updateParams();
}
@ -101,34 +82,12 @@ void DifferentialDrive::Run()
vehicle_control_mode_s vehicle_control_mode{};
if (_vehicle_control_mode_sub.copy(&vehicle_control_mode)) {
_armed = vehicle_control_mode.flag_armed;
_differential_drive_kinematics.setArmed(vehicle_control_mode.flag_armed);
_manual_driving = vehicle_control_mode.flag_control_manual_enabled;
_mission_driving = vehicle_control_mode.flag_control_auto_enabled;
}
}
if (_vehicle_attitude_sub.updated()) {
vehicle_attitude_s vehicle_attitude{};
if (_vehicle_attitude_sub.copy(&vehicle_attitude)) {
_vehicle_attitude_quaternion = Quatf(vehicle_attitude.q);
_vehicle_yaw = matrix::Eulerf(_vehicle_attitude_quaternion).psi();
}
}
if (_vehicle_angular_velocity_sub.updated()) {
_vehicle_angular_velocity_sub.copy(&_vehicle_angular_velocity);
}
if (_vehicle_local_position_sub.updated()) {
vehicle_local_position_s vehicle_local_position{};
if (_vehicle_local_position_sub.copy(&vehicle_local_position)) {
Vector3f velocity_in_local_frame(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
_velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame);
}
}
if (_manual_driving) {
// Manual mode
// directly produce setpoints from the manual control setpoint (joystick)
@ -136,66 +95,26 @@ void DifferentialDrive::Run()
manual_control_setpoint_s manual_control_setpoint{};
if (_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
_differential_drive_setpoint.timestamp = now;
_differential_drive_setpoint.speed = manual_control_setpoint.throttle * _param_rdd_speed_scale.get() * _max_speed;
_differential_drive_setpoint.yaw_rate = manual_control_setpoint.roll * _param_rdd_ang_velocity_scale.get() *
_max_angular_velocity;
_differential_drive_control_output_pub.publish(_differential_drive_setpoint);
differential_drive_setpoint_s setpoint{};
setpoint.speed = manual_control_setpoint.throttle * math::max(0.f, _param_rdd_speed_scale.get()) * _max_speed;
setpoint.yaw_rate = manual_control_setpoint.roll * _param_rdd_ang_velocity_scale.get() * _max_angular_velocity;
setpoint.timestamp = now;
_differential_drive_setpoint_pub.publish(setpoint);
}
}
} else if (_mission_driving) {
// Mission mode
// directly receive setpoints from the guidance library
matrix::Vector2f guidance_output =
_differential_guidance_controller.computeGuidance(
_vehicle_yaw,
_vehicle_angular_velocity.xyz[2],
_differential_drive_guidance.computeGuidance(
_differential_drive_control.getVehicleYaw(),
_differential_drive_control.getVehicleBodyYawRate(),
dt
);
_differential_drive_setpoint.timestamp = now;
_differential_drive_setpoint.speed = guidance_output(0);
_differential_drive_setpoint.yaw_rate = guidance_output(1);
_differential_drive_setpoint_pub.publish(_differential_drive_setpoint);
}
// check if the topic is updated and update the setpoint
if (_differential_drive_control_output_sub.updated()) {
_differential_drive_control_output_sub.copy(&_differential_drive_setpoint);
_speed_pid_output = 0;
_angular_velocity_pid_output = 0;
}
if (_differential_drive_setpoint_sub.updated()) {
_differential_drive_setpoint_sub.copy(&_differential_drive_setpoint);
_speed_pid_output = pid_calculate(&_speed_pid, _differential_drive_setpoint.speed, _velocity_in_body_frame(0), 0, dt);
_angular_velocity_pid_output = pid_calculate(&_angular_velocity_pid, _differential_drive_setpoint.yaw_rate,
_vehicle_angular_velocity.xyz[2], 0, dt);
}
// get the normalized wheel speeds from the inverse kinematics class (DifferentialDriveKinematics)
Vector2f wheel_speeds = _differential_drive_kinematics.computeInverseKinematics(
_differential_drive_setpoint.speed + _speed_pid_output,
_differential_drive_setpoint.yaw_rate + _angular_velocity_pid_output);
// Check if max_angular_wheel_speed is zero
const bool setpoint_timeout = (_differential_drive_setpoint.timestamp + 100_ms) < now;
const bool valid_max_speed = _param_rdd_speed_scale.get() > FLT_EPSILON;
if (!_armed || setpoint_timeout || !valid_max_speed) {
wheel_speeds = {}; // stop
}
wheel_speeds = matrix::constrain(wheel_speeds, -1.f, 1.f);
actuator_motors_s actuator_motors{};
actuator_motors.reversible_flags = _param_r_rev.get(); // should be 3 see rc.rover_differential_defaults
wheel_speeds.copyTo(actuator_motors.control);
actuator_motors.timestamp = now;
_actuator_motors_pub.publish(actuator_motors);
_differential_drive_control.control(dt);
_differential_drive_kinematics.allocate();
}
int DifferentialDrive::task_spawn(int argc, char *argv[])

74
src/modules/differential_drive/DifferentialDrive.hpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
* Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,45 +33,24 @@
#pragma once
// PX4 includes
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
// uORB includes
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_motors.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/topics/differential_drive_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_control_mode.h>
// Standard library includes
#include <math.h>
#include <lib/pid/pid.h>
// Local includes
#include <DifferentialDriveKinematics.hpp>
#include <DifferentialDriveGuidance.hpp>
#include "DifferentialDriveControl/DifferentialDriveControl.hpp"
#include "DifferentialDriveGuidance/DifferentialDriveGuidance.hpp"
#include "DifferentialDriveKinematics/DifferentialDriveKinematics.hpp"
using namespace time_literals;
static constexpr uint64_t kTimeoutUs = 5000_ms; // Maximal time in microseconds before a loop or data times out
class DifferentialDrive : public ModuleBase<DifferentialDrive>, public ModuleParams,
public px4::ScheduledWorkItem
{
@ -95,55 +74,28 @@ protected:
private:
void Run() override;
uORB::Subscription _differential_drive_control_output_sub{ORB_ID(differential_drive_control_output)};
uORB::Subscription _differential_drive_setpoint_sub{ORB_ID(differential_drive_setpoint)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::PublicationMulti<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
uORB::Publication<differential_drive_setpoint_s> _differential_drive_control_output_pub{ORB_ID(differential_drive_control_output)};
uORB::Publication<differential_drive_setpoint_s> _differential_drive_setpoint_pub{ORB_ID(differential_drive_setpoint)};
differential_drive_setpoint_s _differential_drive_setpoint{};
vehicle_angular_velocity_s _vehicle_angular_velocity{};
bool _armed = false;
bool _manual_driving = false;
bool _mission_driving = false;
hrt_abstime _time_stamp_last{0}; /**< time stamp when task was last updated */
DifferentialDriveKinematics _differential_drive_kinematics;
DifferentialDriveGuidance _differential_guidance_controller{this};
DifferentialDriveGuidance _differential_drive_guidance{this};
DifferentialDriveControl _differential_drive_control{this};
DifferentialDriveKinematics _differential_drive_kinematics{this};
float _max_speed{0.f};
float _max_angular_velocity{0.f};
matrix::Quatf _vehicle_attitude_quaternion{};
float _vehicle_yaw{0.f};
Vector3f _velocity_in_body_frame{0.f, 0.f, 0.f};
PID_t _angular_velocity_pid; ///< The PID controller for yaw rate.
PID_t _speed_pid; ///< The PID controller for velocity.
float _speed_pid_output{0.f};
float _angular_velocity_pid_output{0.f};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RDD_P_SPEED>) _param_rdd_p_gain_speed,
(ParamFloat<px4::params::RDD_I_SPEED>) _param_rdd_i_gain_speed,
(ParamFloat<px4::params::RDD_P_ANG_VEL>) _param_rdd_p_gain_angular_velocity,
(ParamFloat<px4::params::RDD_I_ANG_VEL>) _param_rdd_i_gain_angular_velocity,
(ParamFloat<px4::params::RDD_SPEED_SCALE>) _param_rdd_speed_scale,
(ParamFloat<px4::params::RDD_ANG_SCALE>) _param_rdd_ang_velocity_scale,
(ParamFloat<px4::params::RDD_WHL_SPEED>) _param_rdd_max_wheel_speed,
(ParamFloat<px4::params::RDD_SPEED_SCALE>) _param_rdd_speed_scale,
(ParamFloat<px4::params::RDD_WHEEL_BASE>) _param_rdd_wheel_base,
(ParamFloat<px4::params::RDD_WHEEL_RADIUS>) _param_rdd_wheel_radius,
(ParamInt<px4::params::CA_R_REV>) _param_r_rev
(ParamFloat<px4::params::RDD_WHEEL_SPEED>) _param_rdd_wheel_speed,
(ParamFloat<px4::params::RDD_WHEEL_RADIUS>) _param_rdd_wheel_radius
)
};

39
src/modules/differential_drive/DifferentialDriveControl/CMakeLists.txt Normal file
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@ -0,0 +1,39 @@
############################################################################
#
# Copyright (c) 2024 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_library(DifferentialDriveControl
DifferentialDriveControl.cpp
)
target_link_libraries(DifferentialDriveControl PUBLIC pid)
target_include_directories(DifferentialDriveControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

109
src/modules/differential_drive/DifferentialDriveControl/DifferentialDriveControl.cpp Normal file
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@ -0,0 +1,109 @@
/****************************************************************************
*
* Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "DifferentialDriveControl.hpp"
using namespace matrix;
DifferentialDriveControl::DifferentialDriveControl(ModuleParams *parent) : ModuleParams(parent)
{
pid_init(&_pid_angular_velocity, PID_MODE_DERIVATIV_NONE, 0.001f);
pid_init(&_pid_speed, PID_MODE_DERIVATIV_NONE, 0.001f);
}
void DifferentialDriveControl::updateParams()
{
ModuleParams::updateParams();
pid_set_parameters(&_pid_angular_velocity,
_param_rdd_p_gain_angular_velocity.get(), // Proportional gain
_param_rdd_i_gain_angular_velocity.get(), // Integral gain
0, // Derivative gain
20, // Integral limit
200); // Output limit
pid_set_parameters(&_pid_speed,
_param_rdd_p_gain_speed.get(), // Proportional gain
_param_rdd_i_gain_speed.get(), // Integral gain
0, // Derivative gain
2, // Integral limit
200); // Output limit
}
void DifferentialDriveControl::control(float dt)
{
if (_vehicle_angular_velocity_sub.updated()) {
vehicle_angular_velocity_s vehicle_angular_velocity{};
if (_vehicle_angular_velocity_sub.copy(&vehicle_angular_velocity)) {
_vehicle_body_yaw_rate = vehicle_angular_velocity.xyz[2];
}
}
if (_vehicle_attitude_sub.updated()) {
vehicle_attitude_s vehicle_attitude{};
if (_vehicle_attitude_sub.copy(&vehicle_attitude)) {
_vehicle_attitude_quaternion = Quatf(vehicle_attitude.q);
_vehicle_yaw = matrix::Eulerf(_vehicle_attitude_quaternion).psi();
}
}
if (_vehicle_local_position_sub.updated()) {
vehicle_local_position_s vehicle_local_position{};
if (_vehicle_local_position_sub.copy(&vehicle_local_position)) {
Vector3f velocity_in_local_frame(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame);
_vehicle_forward_speed = velocity_in_body_frame(0);
}
}
_differential_drive_setpoint_sub.update(&_differential_drive_setpoint);
// PID to reach setpoint using control_output
differential_drive_setpoint_s differential_drive_control_output = _differential_drive_setpoint;
if (_differential_drive_setpoint.closed_loop_speed_control) {
differential_drive_control_output.speed +=
pid_calculate(&_pid_speed, _differential_drive_setpoint.speed, _vehicle_forward_speed, 0, dt);
}
if (_differential_drive_setpoint.closed_loop_yaw_rate_control) {
differential_drive_control_output.yaw_rate +=
pid_calculate(&_pid_angular_velocity, _differential_drive_setpoint.yaw_rate, _vehicle_body_yaw_rate, 0, dt);
}
differential_drive_control_output.timestamp = hrt_absolute_time();
_differential_drive_control_output_pub.publish(differential_drive_control_output);
}

91
src/modules/differential_drive/DifferentialDriveControl/DifferentialDriveControl.hpp Normal file
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@ -0,0 +1,91 @@
/****************************************************************************
*
* Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file DifferentialDriveControl.hpp
*
* Controller for heading rate and forward speed.
*/
#pragma once
#include <lib/pid/pid.h>
#include <matrix/matrix/math.hpp>
#include <px4_platform_common/module_params.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/differential_drive_setpoint.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_local_position.h>
class DifferentialDriveControl : public ModuleParams
{
public:
DifferentialDriveControl(ModuleParams *parent);
~DifferentialDriveControl() = default;
void control(float dt);
float getVehicleBodyYawRate() const { return _vehicle_body_yaw_rate; }
float getVehicleYaw() const { return _vehicle_yaw; }
protected:
void updateParams() override;
private:
uORB::Subscription _differential_drive_setpoint_sub{ORB_ID(differential_drive_setpoint)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Publication<differential_drive_setpoint_s> _differential_drive_control_output_pub{ORB_ID(differential_drive_control_output)};
differential_drive_setpoint_s _differential_drive_setpoint{};
matrix::Quatf _vehicle_attitude_quaternion{};
float _vehicle_yaw{0.f};
// States
float _vehicle_body_yaw_rate{0.f};
float _vehicle_forward_speed{0.f};
PID_t _pid_angular_velocity; ///< The PID controller for yaw rate.
PID_t _pid_speed; ///< The PID controller for velocity.
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RDD_P_SPEED>) _param_rdd_p_gain_speed,
(ParamFloat<px4::params::RDD_I_SPEED>) _param_rdd_i_gain_speed,
(ParamFloat<px4::params::RDD_P_ANG_VEL>) _param_rdd_p_gain_angular_velocity,
(ParamFloat<px4::params::RDD_I_ANG_VEL>) _param_rdd_i_gain_angular_velocity
)
};

6
src/modules/differential_drive/DifferentialDriveGuidance/CMakeLists.txt
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@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2023 PX4 Development Team. All rights reserved.
# Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -33,10 +33,6 @@
px4_add_library(DifferentialDriveGuidance
DifferentialDriveGuidance.cpp
DifferentialDriveGuidance.hpp
)
target_compile_options(DifferentialDriveGuidance PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_include_directories(DifferentialDriveGuidance PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
# px4_add_unit_gtest(SRC DifferentialDriveGuidanceTest.cpp LINKLIBS DifferentialDriveGuidance)

48
src/modules/differential_drive/DifferentialDriveGuidance/DifferentialDriveGuidance.cpp
View File

@ -1,3 +1,36 @@
/****************************************************************************
*
* Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "DifferentialDriveGuidance.hpp"
#include <mathlib/math/Limits.hpp>
@ -11,7 +44,7 @@ DifferentialDriveGuidance::DifferentialDriveGuidance(ModuleParams *parent) : Mod
pid_init(&_heading_p_controller, PID_MODE_DERIVATIV_NONE, 0.001f);
}
matrix::Vector2f DifferentialDriveGuidance::computeGuidance(float vehicle_yaw, float angular_velocity, float dt)
void DifferentialDriveGuidance::computeGuidance(float yaw, float angular_velocity, float dt)
{
if (_position_setpoint_triplet_sub.updated()) {
_position_setpoint_triplet_sub.copy(&_position_setpoint_triplet);
@ -31,7 +64,7 @@ matrix::Vector2f DifferentialDriveGuidance::computeGuidance(float vehicle_yaw, f
float desired_heading = get_bearing_to_next_waypoint(global_position(0), global_position(1), current_waypoint(0),
current_waypoint(1));
float heading_error = matrix::wrap_pi(desired_heading - vehicle_yaw);
float heading_error = matrix::wrap_pi(desired_heading - yaw);
const float max_velocity = math::trajectory::computeMaxSpeedFromDistance(_param_rdd_max_jerk.get(),
_param_rdd_max_accel.get(), distance_to_next_wp, 0.0f);
@ -54,7 +87,6 @@ matrix::Vector2f DifferentialDriveGuidance::computeGuidance(float vehicle_yaw, f
_currentState = GuidanceState::GOAL_REACHED;
}
matrix::Vector2f output;
float desired_speed = 0.f;
switch (_currentState) {
@ -79,10 +111,12 @@ matrix::Vector2f DifferentialDriveGuidance::computeGuidance(float vehicle_yaw, f
// Compute the desired angular velocity relative to the heading error, to steer the vehicle towards the next waypoint.
float angular_velocity_pid = pid_calculate(&_heading_p_controller, heading_error, angular_velocity, 0, dt);
output(0) = math::constrain(desired_speed, -_max_speed, _max_speed);
output(1) = math::constrain(angular_velocity_pid, -_max_angular_velocity, _max_angular_velocity);
return output;
differential_drive_setpoint_s output{};
output.speed = math::constrain(desired_speed, -_max_speed, _max_speed);
output.yaw_rate = math::constrain(angular_velocity_pid, -_max_angular_velocity, _max_angular_velocity);
output.closed_loop_speed_control = output.closed_loop_yaw_rate_control = true;
output.timestamp = hrt_absolute_time();
_differential_drive_setpoint_pub.publish(output);
}
void DifferentialDriveGuidance::updateParams()

16
src/modules/differential_drive/DifferentialDriveGuidance/DifferentialDriveGuidance.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
* Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,7 +33,6 @@
#pragma once
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <matrix/matrix/math.hpp>
@ -48,6 +47,7 @@
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/differential_drive_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_global_position.h>
@ -74,10 +74,6 @@ public:
* @param parent The parent ModuleParams object.
*/
DifferentialDriveGuidance(ModuleParams *parent);
/**
* @brief Default destructor.
*/
~DifferentialDriveGuidance() = default;
/**
@ -89,10 +85,8 @@ public:
* @param body_velocity The velocity of the vehicle in m/s.
* @param angular_velocity The angular velocity of the vehicle in rad/s.
* @param dt The time step in seconds.
* @return A 2D vector containing the computed guidance (speed in m/s, yaw rate in rad/s).
*/
matrix::Vector2f computeGuidance(float vehicle_yaw,
float angular_velocity, float dt);
void computeGuidance(float yaw, float angular_velocity, float dt);
/**
* @brief Set the maximum speed for the vehicle.
@ -116,10 +110,11 @@ protected:
void updateParams() override;
private:
uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)};
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
uORB::Publication<differential_drive_setpoint_s> _differential_drive_setpoint_pub{ORB_ID(differential_drive_setpoint)};
position_setpoint_triplet_s _position_setpoint_triplet{};
vehicle_global_position_s _vehicle_global_position{};
@ -143,5 +138,4 @@ private:
(ParamFloat<px4::params::RDD_MAX_JERK>) _param_rdd_max_jerk,
(ParamFloat<px4::params::RDD_MAX_ACCEL>) _param_rdd_max_accel
)
};

4
src/modules/differential_drive/DifferentialDriveKinematics/CMakeLists.txt
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@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2023 PX4 Development Team. All rights reserved.
# Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -37,4 +37,4 @@ px4_add_library(DifferentialDriveKinematics
target_include_directories(DifferentialDriveKinematics PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
px4_add_unit_gtest(SRC DifferentialDriveKinematicsTest.cpp LINKLIBS DifferentialDriveKinematics)
px4_add_functional_gtest(SRC DifferentialDriveKinematicsTest.cpp LINKLIBS DifferentialDriveKinematics)

36
src/modules/differential_drive/DifferentialDriveKinematics/DifferentialDriveKinematics.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
* Copyright (C) 2023-2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -36,8 +36,38 @@
#include <mathlib/mathlib.h>
using namespace matrix;
using namespace time_literals;
matrix::Vector2f DifferentialDriveKinematics::computeInverseKinematics(float linear_velocity_x, float yaw_rate)
DifferentialDriveKinematics::DifferentialDriveKinematics(ModuleParams *parent) : ModuleParams(parent)
{}
void DifferentialDriveKinematics::allocate()
{
hrt_abstime now = hrt_absolute_time();
if (_differential_drive_control_output_sub.updated()) {
_differential_drive_control_output_sub.copy(&_differential_drive_control_output);
}
const bool setpoint_timeout = (_differential_drive_control_output.timestamp + 100_ms) < now;
Vector2f wheel_speeds =
computeInverseKinematics(_differential_drive_control_output.speed, _differential_drive_control_output.yaw_rate);
if (!_armed || setpoint_timeout) {
wheel_speeds = {}; // stop
}
wheel_speeds = matrix::constrain(wheel_speeds, -1.f, 1.f);
actuator_motors_s actuator_motors{};
actuator_motors.reversible_flags = _param_r_rev.get(); // should be 3 see rc.rover_differential_defaults
wheel_speeds.copyTo(actuator_motors.control);
actuator_motors.timestamp = now;
_actuator_motors_pub.publish(actuator_motors);
}
matrix::Vector2f DifferentialDriveKinematics::computeInverseKinematics(float linear_velocity_x, float yaw_rate) const
{
if (_max_speed < FLT_EPSILON) {
return Vector2f();
@ -54,7 +84,7 @@ matrix::Vector2f DifferentialDriveKinematics::computeInverseKinematics(float lin
if (combined_velocity > _max_speed) {
float excess_velocity = fabsf(combined_velocity - _max_speed);
float adjusted_linear_velocity = fabsf(linear_velocity_x) - excess_velocity;
const float adjusted_linear_velocity = fabsf(linear_velocity_x) - excess_velocity;
gain = adjusted_linear_velocity / fabsf(linear_velocity_x);
}

27
src/modules/differential_drive/DifferentialDriveKinematics/DifferentialDriveKinematics.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
* Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -34,6 +34,11 @@
#pragma once
#include <matrix/matrix/math.hpp>
#include <px4_platform_common/module_params.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_motors.h>
#include <uORB/topics/differential_drive_setpoint.h>
/**
* @brief Differential Drive Kinematics class for computing the kinematics of a differential drive robot.
@ -41,10 +46,10 @@
* This class provides functions to set the wheel base and radius, and to compute the inverse kinematics
* given linear velocity and yaw rate.
*/
class DifferentialDriveKinematics
class DifferentialDriveKinematics : public ModuleParams
{
public:
DifferentialDriveKinematics() = default;
DifferentialDriveKinematics(ModuleParams *parent);
~DifferentialDriveKinematics() = default;
/**
@ -68,6 +73,10 @@ public:
*/
void setMaxAngularVelocity(const float max_angular_velocity) { _max_angular_velocity = max_angular_velocity; };
void setArmed(const bool armed) { _armed = armed; };
void allocate();
/**
* @brief Computes the inverse kinematics for differential drive.
*
@ -75,10 +84,20 @@ public:
* @param yaw_rate Yaw rate of the robot.
* @return matrix::Vector2f Motor velocities for the right and left motors.
*/
matrix::Vector2f computeInverseKinematics(float linear_velocity_x, float yaw_rate);
matrix::Vector2f computeInverseKinematics(float linear_velocity_x, float yaw_rate) const;
private:
uORB::Subscription _differential_drive_control_output_sub{ORB_ID(differential_drive_control_output)};
uORB::PublicationMulti<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
differential_drive_setpoint_s _differential_drive_control_output{};
bool _armed = false;
float _wheel_base{0.f};
float _max_speed{0.f};
float _max_angular_velocity{0.f};
DEFINE_PARAMETERS(
(ParamInt<px4::params::CA_R_REV>) _param_r_rev
)
};

44
src/modules/differential_drive/DifferentialDriveKinematics/DifferentialDriveKinematicsTest.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
* Copyright (C) 2023-2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -37,9 +37,14 @@
using namespace matrix;
TEST(DifferentialDriveKinematicsTest, AllZeroInputCase)
class DifferentialDriveKinematicsTest : public ::testing::Test
{
public:
DifferentialDriveKinematics kinematics{nullptr};
};
TEST_F(DifferentialDriveKinematicsTest, AllZeroInputCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(10.f);
kinematics.setMaxAngularVelocity(10.f);
@ -49,9 +54,8 @@ TEST(DifferentialDriveKinematicsTest, AllZeroInputCase)
}
TEST(DifferentialDriveKinematicsTest, InvalidParameterCase)
TEST_F(DifferentialDriveKinematicsTest, InvalidParameterCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(0.f);
kinematics.setMaxSpeed(10.f);
kinematics.setMaxAngularVelocity(10.f);
@ -61,9 +65,8 @@ TEST(DifferentialDriveKinematicsTest, InvalidParameterCase)
}
TEST(DifferentialDriveKinematicsTest, UnitCase)
TEST_F(DifferentialDriveKinematicsTest, UnitCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(10.f);
kinematics.setMaxAngularVelocity(10.f);
@ -73,9 +76,8 @@ TEST(DifferentialDriveKinematicsTest, UnitCase)
}
TEST(DifferentialDriveKinematicsTest, UnitSaturationCase)
TEST_F(DifferentialDriveKinematicsTest, UnitSaturationCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
@ -85,9 +87,8 @@ TEST(DifferentialDriveKinematicsTest, UnitSaturationCase)
}
TEST(DifferentialDriveKinematicsTest, OppositeUnitSaturationCase)
TEST_F(DifferentialDriveKinematicsTest, OppositeUnitSaturationCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
@ -96,9 +97,8 @@ TEST(DifferentialDriveKinematicsTest, OppositeUnitSaturationCase)
EXPECT_EQ(kinematics.computeInverseKinematics(-1.f, 1.f), Vector2f(-1, 0));
}
TEST(DifferentialDriveKinematicsTest, RandomCase)
TEST_F(DifferentialDriveKinematicsTest, RandomCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(2.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
@ -107,9 +107,8 @@ TEST(DifferentialDriveKinematicsTest, RandomCase)
EXPECT_EQ(kinematics.computeInverseKinematics(0.5f, 0.7f), Vector2f(-0.4f, 1.0f));
}
TEST(DifferentialDriveKinematicsTest, RotateInPlaceCase)
TEST_F(DifferentialDriveKinematicsTest, RotateInPlaceCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
@ -118,9 +117,8 @@ TEST(DifferentialDriveKinematicsTest, RotateInPlaceCase)
EXPECT_EQ(kinematics.computeInverseKinematics(0.f, 1.f), Vector2f(-0.5f, 0.5f));
}
TEST(DifferentialDriveKinematicsTest, StraightMovementCase)
TEST_F(DifferentialDriveKinematicsTest, StraightMovementCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
@ -129,9 +127,8 @@ TEST(DifferentialDriveKinematicsTest, StraightMovementCase)
EXPECT_EQ(kinematics.computeInverseKinematics(1.f, 0.f), Vector2f(1.f, 1.f));
}
TEST(DifferentialDriveKinematicsTest, MinInputValuesCase)
TEST_F(DifferentialDriveKinematicsTest, MinInputValuesCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(FLT_MIN);
kinematics.setMaxSpeed(FLT_MIN);
kinematics.setMaxAngularVelocity(FLT_MIN);
@ -140,9 +137,8 @@ TEST(DifferentialDriveKinematicsTest, MinInputValuesCase)
EXPECT_EQ(kinematics.computeInverseKinematics(FLT_MIN, FLT_MIN), Vector2f(0.f, 0.f));
}
TEST(DifferentialDriveKinematicsTest, MaxSpeedLimitCase)
TEST_F(DifferentialDriveKinematicsTest, MaxSpeedLimitCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
@ -151,9 +147,8 @@ TEST(DifferentialDriveKinematicsTest, MaxSpeedLimitCase)
EXPECT_EQ(kinematics.computeInverseKinematics(10.f, 10.f), Vector2f(0.f, 1.f));
}
TEST(DifferentialDriveKinematicsTest, MaxSpeedForwardsCase)
TEST_F(DifferentialDriveKinematicsTest, MaxSpeedForwardsCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
@ -162,9 +157,8 @@ TEST(DifferentialDriveKinematicsTest, MaxSpeedForwardsCase)
EXPECT_EQ(kinematics.computeInverseKinematics(10.f, 0.f), Vector2f(1.f, 1.f));
}
TEST(DifferentialDriveKinematicsTest, MaxAngularCase)
TEST_F(DifferentialDriveKinematicsTest, MaxAngularCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(2.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);

2
src/modules/differential_drive/module.yaml
View File

@ -43,7 +43,7 @@ parameters:
increment: 0.01
decimal: 2
default: 1
RDD_WHL_SPEED:
RDD_WHEEL_SPEED:
description:
short: Maximum wheel speed
type: float

3
src/modules/uxrce_dds_client/dds_topics.yaml
View File

@ -127,9 +127,6 @@ subscriptions:
- topic: /fmu/in/vehicle_rates_setpoint
type: px4_msgs::msg::VehicleRatesSetpoint
- topic: /fmu/in/differential_drive_control_output
type: px4_msgs::msg::DifferentialDriveSetpoint
- topic: /fmu/in/differential_drive_setpoint
type: px4_msgs::msg::DifferentialDriveSetpoint