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px4-firmware
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added acro mode 

Acro mode is manual mode, but with rate control
This commit is contained in:
PerFrivik 2024-01-26 10:04:59 +01:00
parent 16ac05691a
commit 4c75b922ae
2 changed files with 13 additions and 0 deletions
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12
src/modules/differential_drive/DifferentialDrive.cpp
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@ -84,6 +84,7 @@ void DifferentialDrive::Run()
if (_vehicle_control_mode_sub.copy(&vehicle_control_mode)) {
_differential_drive_kinematics.setArmed(vehicle_control_mode.flag_armed);
_manual_driving = vehicle_control_mode.flag_control_manual_enabled;
_acro_driving = vehicle_control_mode.flag_control_rates_enabled;
_mission_driving = vehicle_control_mode.flag_control_auto_enabled;
}
}
@ -98,6 +99,17 @@ void DifferentialDrive::Run()
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;
// if acro mode, we activate the yaw rate control
if (_acro_driving) {
setpoint.closed_loop_speed_control = false;
setpoint.closed_loop_yaw_rate_control = true;
} else {
setpoint.closed_loop_speed_control = false;
setpoint.closed_loop_yaw_rate_control = false;
}
setpoint.timestamp = now;
_differential_drive_setpoint_pub.publish(setpoint);
}

1
src/modules/differential_drive/DifferentialDrive.hpp
View File

@ -82,6 +82,7 @@ private:
bool _manual_driving = false;
bool _mission_driving = false;
bool _acro_driving = false;
hrt_abstime _time_stamp_last{0}; /**< time stamp when task was last updated */
DifferentialDriveGuidance _differential_drive_guidance{this};