Update src/modules/offboard_switch/offboard_switch.cpp

Co-authored-by: Matthias Grob <maetugr@gmail.com>

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -79,3 +79,5 @@ mc_pos_control start
 # Start Multicopter Land Detector.
 #
 land_detector start multicopter
+
+offboard_switch start

boards/px4/sitl/default.px4board

@@ -52,6 +52,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODULES_OFFBOARD_SWITCH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y

msg/TrajectorySetpoint.msg

@@ -13,3 +13,5 @@ float32[3] jerk # in meters/second^3 (for logging only)
 
 float32 yaw # euler angle of desired attitude in radians -PI..+PI
 float32 yawspeed # angular velocity around NED frame z-axis in radians/second
+
+# TOPICS trajectory_setpoint offboard_trajectory_setpoint

msg/VehicleAttitudeSetpoint.msg

@@ -17,4 +17,4 @@ bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)
 
 bool fw_control_yaw_wheel	# control heading with steering wheel (used for auto takeoff on runway)
 
-# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
+# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint offboard_attitude_setpoint

msg/VehicleRatesSetpoint.msg

@@ -10,3 +10,5 @@ float32 yaw		# [rad/s] yaw rate setpoint
 float32[3] thrust_body	# Normalized thrust command in body NED frame [-1,1]
 
 bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
+
+# TOPICS vehicle_rates_setpoint offboard_rates_setpoint

src/modules/offboard_switch/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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_module(
+	MODULE modules__offboard_switch
+	MAIN offboard_switch
+	SRCS
+		offboard_switch.cpp
+		offboard_switch.hpp
+	DEPENDS
+		px4_work_queue
+	)

src/modules/offboard_switch/Kconfig

@@ -0,0 +1,12 @@
+menuconfig MODULES_OFFBOARD_SWITCH
+	bool "offboard_switch"
+	default n
+	---help---
+		Enable support for fw_att_control
+
+menuconfig USER_MODULES_OFFBOARD_SWITCH
+	bool "fw_rate_control running as userspace module"
+	default n
+	depends on BOARD_PROTECTED
+	---help---
+		Put offboard_switch in userspace memory

src/modules/offboard_switch/offboard_switch.cpp

@@ -0,0 +1,225 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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 "offboard_switch.hpp"
+
+using namespace time_literals;
+using namespace matrix;
+
+OffboardSwitch::OffboardSwitch() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
+	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
+{
+	/* fetch initial parameter values */
+	parameters_update();
+}
+
+OffboardSwitch::~OffboardSwitch()
+{
+	perf_free(_loop_perf);
+}
+
+bool
+OffboardSwitch::init()
+{
+	if (!_vehicle_angular_velocity_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+int
+OffboardSwitch::parameters_update()
+{
+
+	return PX4_OK;
+}
+
+
+void OffboardSwitch::Run()
+{
+	if (should_exit()) {
+		_vehicle_angular_velocity_sub.unregisterCallback();
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_loop_perf);
+
+	// only run controller if angular velocity changed
+
+	///TODO: Timeout if setpoints fall out of sync
+	///TODO: Package offboard control mode messages to the correct level, depending on the setpoint
+	offboard_control_mode_s ocm{};
+	trajectory_setpoint_s trajectory_setpoint;
+
+	vehicle_status_s vehicle_status{};
+	_vehicle_status_sub.copy(&vehicle_status);
+
+	bool data_is_recent{false};
+
+	if (_offboard_trajectory_setpoint_sub.update(&trajectory_setpoint)) {
+		data_is_recent = data_is_recent || (hrt_absolute_time() < trajectory_setpoint.timestamp
+						    + static_cast<hrt_abstime>(_param_com_of_loss_t.get() * 1_s));
+
+		if (data_is_recent) {
+			if (PX4_ISFINITE(trajectory_setpoint.position[0]) && PX4_ISFINITE(trajectory_setpoint.position[1])
+			    && PX4_ISFINITE(trajectory_setpoint.position[2])) {
+				ocm.position = true;
+			}
+
+			if (PX4_ISFINITE(trajectory_setpoint.velocity[0]) && PX4_ISFINITE(trajectory_setpoint.velocity[1])
+			    && PX4_ISFINITE(trajectory_setpoint.velocity[2])) {
+				ocm.velocity = true;
+			}
+
+			if (PX4_ISFINITE(trajectory_setpoint.acceleration[0]) && PX4_ISFINITE(trajectory_setpoint.acceleration[1])
+			    && PX4_ISFINITE(trajectory_setpoint.acceleration[2])) {
+				ocm.acceleration = true;
+			}
+
+			if ((ocm.position || ocm.velocity || ocm.acceleration)
+			    && (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD)) {
+				_trajectory_setpoint_pub.publish(trajectory_setpoint);
+			}
+		}
+	}
+
+	vehicle_attitude_setpoint_s attitude_setpoint;
+
+	if (_offboard_vehicle_attitude_setpoint_sub.update(&attitude_setpoint)) {
+		data_is_recent = data_is_recent || (hrt_absolute_time() < attitude_setpoint.timestamp
+						    + static_cast<hrt_abstime>(_param_com_of_loss_t.get() * 1_s));
+		PX4_INFO("Data is recent: %f", double(data_is_recent));
+
+		if (data_is_recent) {
+			if (PX4_ISFINITE(attitude_setpoint.q_d[0]) && PX4_ISFINITE(attitude_setpoint.q_d[1])
+			    && PX4_ISFINITE(attitude_setpoint.q_d[2]) && PX4_ISFINITE(attitude_setpoint.q_d[3])) {
+				ocm.attitude = true;
+			}
+
+			if (ocm.attitude
+			    && (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD)) {
+				_vehicle_attitude_setpoint_pub.publish(attitude_setpoint);
+			}
+		}
+	}
+
+	vehicle_rates_setpoint_s rates_setpoint;
+
+	if (_offboard_vehicle_rates_setpoint_sub.update(&rates_setpoint)) {
+		data_is_recent = data_is_recent || (hrt_absolute_time() < rates_setpoint.timestamp
+						    + static_cast<hrt_abstime>(_param_com_of_loss_t.get() * 1_s));
+
+		if (data_is_recent) {
+			if (PX4_ISFINITE(rates_setpoint.roll) && PX4_ISFINITE(rates_setpoint.pitch)
+			    && PX4_ISFINITE(rates_setpoint.yaw)) {
+				ocm.body_rate = true;
+			}
+
+			if (ocm.body_rate
+			    && (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD)) {
+				_vehicle_rates_setpoint_pub.publish(rates_setpoint);
+			}
+		}
+	}
+
+	///TODO: Handle corner cases where ill-posed setpoints are mixed
+	bool valid_position_setpoint = ocm.position || ocm.velocity || ocm.acceleration;
+	bool valid_attitude_setpoint = ocm.attitude || ocm.body_rate;
+	bool valid_actuator_setpooint = ocm.thrust_and_torque || ocm.direct_actuator;
+
+	if (data_is_recent && (valid_position_setpoint || valid_attitude_setpoint || valid_actuator_setpooint)) {
+		// publish offboard_control_mode
+		ocm.timestamp = hrt_absolute_time();
+		_offboard_control_mode_pub.publish(ocm);
+	}
+
+	perf_end(_loop_perf);
+}
+
+int OffboardSwitch::task_spawn(int argc, char *argv[])
+{
+	OffboardSwitch *instance = new OffboardSwitch();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int OffboardSwitch::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int OffboardSwitch::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+offboard_switch filters and regulated offboard setpoints.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("offboard_switch", "controller");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int offboard_switch_main(int argc, char *argv[])
+{
+	return OffboardSwitch::main(argc, argv);
+}

src/modules/offboard_switch/offboard_switch.hpp

@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+#include <lib/mathlib/mathlib.h>
+#include <lib/parameters/param.h>
+#include <lib/perf/perf_counter.h>
+#include <matrix/math.hpp>
+#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/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionMultiArray.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_angular_velocity.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/offboard_control_mode.h>
+#include <uORB/topics/trajectory_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
+
+using matrix::Eulerf;
+using matrix::Quatf;
+
+using uORB::SubscriptionData;
+
+using namespace time_literals;
+
+class OffboardSwitch final : public ModuleBase<OffboardSwitch>, public ModuleParams,
+	public px4::ScheduledWorkItem
+{
+public:
+	OffboardSwitch();
+	~OffboardSwitch() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+	uORB::Publication<offboard_control_mode_s> _offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
+	uORB::Publication<trajectory_setpoint_s> _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)};
+	uORB::Publication<vehicle_attitude_setpoint_s> _vehicle_attitude_setpoint_pub{ORB_ID(vehicle_attitude_setpoint)};
+	uORB::Publication<vehicle_rates_setpoint_s> _vehicle_rates_setpoint_pub{ORB_ID(vehicle_rates_setpoint)};
+
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+	uORB::Subscription _offboard_trajectory_setpoint_sub{ORB_ID(offboard_trajectory_setpoint)};
+	uORB::Subscription _offboard_vehicle_attitude_setpoint_sub{ORB_ID(offboard_attitude_setpoint)};
+	uORB::Subscription _offboard_vehicle_rates_setpoint_sub{ORB_ID(offboard_rates_setpoint)};
+
+	perf_counter_t _loop_perf;
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::COM_OF_LOSS_T>) _param_com_of_loss_t
+	)
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int		parameters_update();
+
+};

src/modules/offboard_switch/offboard_switch_params.c

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2023 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 offboard_switch_params.c
+ *
+ * Parameters defined by the offboard_switch
+ *
+ * @author Jaeyoung Lim <jalim@ethz.ch>
+ */

src/modules/uxrce_dds_client/dds_topics.yaml

@@ -115,15 +115,24 @@ subscriptions:
   - topic: /fmu/in/trajectory_setpoint
     type: px4_msgs::msg::TrajectorySetpoint
 
+  - topic: /fmu/in/offboard_trajectory_setpoint
+    type: px4_msgs::msg::TrajectorySetpoint
+
   - topic: /fmu/in/vehicle_attitude_setpoint
     type: px4_msgs::msg::VehicleAttitudeSetpoint
 
+  - topic: /fmu/in/offboard_attitude_setpoint
+    type: px4_msgs::msg::VehicleAttitudeSetpoint
+
   - topic: /fmu/in/vehicle_mocap_odometry
     type: px4_msgs::msg::VehicleOdometry
 
   - topic: /fmu/in/vehicle_rates_setpoint
     type: px4_msgs::msg::VehicleRatesSetpoint
 
+  - topic: /fmu/in/offboard_rates_setpoint
+    type: px4_msgs::msg::VehicleRatesSetpoint
+
   - topic: /fmu/in/vehicle_visual_odometry
     type: px4_msgs::msg::VehicleOdometry