cleanup subscribers and publishers

src/modules/ackermann_drive/AckermannDrive.hpp

@@ -41,16 +41,12 @@
 #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/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/differential_drive_setpoint.h>
 
 // Standard library includes
@@ -58,7 +54,7 @@
 
 // Local includes
 #include "AckermannDriveControl/AckermannDriveControl.hpp"
-//#include "AckermannDriveGuidance/AckermannDriveGuidance.hpp"
+//#include "AckermannDriveGuidance/AckermannDriveGuidance.hpp" //TO BE IMPLEMENTED
 #include "AckermannDriveKinematics/AckermannDriveKinematics.hpp"
 
 using namespace time_literals;
@@ -96,7 +92,7 @@ private:
 	uORB::Publication<differential_drive_setpoint_s> _differential_drive_setpoint_pub{ORB_ID(differential_drive_setpoint)};
 
 	AckermannDriveControl _ackermann_drive_control{this};
-	//AckermannDriveGuidance _ackermann_drive_guidance{this};
+	//AckermannDriveGuidance _ackermann_drive_guidance{this}; // TO BE IMPLEMENTED
 	AckermannDriveKinematics _ackermann_drive_kinematics{this};
 
 	bool _armed = false;
@@ -109,7 +105,6 @@ private:
 		(ParamFloat<px4::params::RDD_ANG_SCALE>) _param_rdd_ang_velocity_scale,
 		(ParamFloat<px4::params::RDD_WHEEL_SPEED>) _param_rdd_max_wheel_speed,
 		(ParamFloat<px4::params::RDD_WHEEL_BASE>) _param_rdd_wheel_base,
-		(ParamFloat<px4::params::RDD_WHEEL_RADIUS>) _param_rdd_wheel_radius,
+		(ParamFloat<px4::params::RDD_WHEEL_RADIUS>) _param_rdd_wheel_radius
-		(ParamInt<px4::params::CA_R_REV>) _param_r_rev
 	)
 };

src/modules/ackermann_drive/AckermannDriveControl/AckermannDriveControl.cpp

@@ -34,7 +34,6 @@
 #include "AckermannDriveControl.hpp"
 
 using namespace time_literals;
-using namespace matrix;
 
 AckermannDriveControl::AckermannDriveControl(ModuleParams *parent) : ModuleParams(parent)
 {

src/modules/ackermann_drive/AckermannDriveControl/AckermannDriveControl.hpp

@@ -41,24 +41,14 @@
 #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/topics/actuator_servos.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/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/differential_drive_setpoint.h>
 
-// Standard library includespr
+
+// Standard library
 #include <math.h>
 
-// Local includes
-// #include <AckermannDriveKinematics.hpp>
 class AckermannDriveControl : public ModuleParams
 {
 public:
@@ -78,13 +68,4 @@ private:
 	uORB::Publication<differential_drive_setpoint_s> _differential_drive_setpoint_pub{ORB_ID(differential_drive_setpoint)};
 
 	differential_drive_setpoint_s _differential_drive_setpoint{};
-
-	DEFINE_PARAMETERS(
-		(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_WHEEL_SPEED>) _param_rdd_max_wheel_speed,
-		(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
-	)
 };

src/modules/ackermann_drive/AckermannDriveKinematics/AckermannDriveKinematics.cpp

@@ -52,7 +52,7 @@ void AckermannDriveKinematics::allocate()
 	hrt_abstime now = hrt_absolute_time();
 
 	actuator_motors_s actuator_motors{};
-	actuator_motors.reversible_flags = _param_r_rev.get(); // should be 3 see rc.rover_differential_defaults
+	actuator_motors.reversible_flags = _param_r_rev.get();
 	actuator_motors.control[0] = speed;
 	actuator_motors.control[1] = speed;
 	actuator_motors.timestamp = now;

src/modules/ackermann_drive/AckermannDriveKinematics/AckermannDriveKinematics.hpp

@@ -33,14 +33,19 @@
 
 #pragma once
 
-#include <matrix/matrix/math.hpp>
+//px4 includes
 #include <px4_platform_common/module_params.h>
+
+// uORB includes
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_motors.h>
 #include <uORB/topics/actuator_servos.h>
 #include <uORB/topics/differential_drive_setpoint.h>
 
+//standard includes
+#include <matrix/matrix/math.hpp>
+
 /**
  * @brief Differential Drive Kinematics class for computing the kinematics of a differential drive robot.
  *
@@ -63,9 +68,6 @@ private:
 
 	differential_drive_setpoint_s _differential_drive_control_output{};
 
-	float _max_speed{0.f};
-	float _max_angular_velocity{0.f};
-
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::CA_R_REV>) _param_r_rev
 	)

src/modules/ackermann_drive/CMakeLists.txt

@@ -31,9 +31,9 @@
 #
 ############################################################################
 
-add_subdirectory(AckermannDriveKinematics)
-
 add_subdirectory(AckermannDriveControl)
+add_subdirectory(AckermannDriveKinematics)
+#add_subdirectory(AckermannDriveGuidance) #TO BE IMPLEMENTED
 
 px4_add_module(
 	MODULE modules__ackermann_drive
@@ -44,6 +44,7 @@ px4_add_module(
 	DEPENDS
 		AckermannDriveControl
 		AckermannDriveKinematics
+		#AckermannDriveGuidance #TO BE IMPLEMENTED
 		px4_work_queue
 	#MODULE_CONFIG
 	#	module.yaml