cleanup subscribers and publishers

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover

@@ -0,0 +1,44 @@
+#!/bin/sh
+# @name Rover Gazebo
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+# Actuator mapping
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_DIS1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+param set-default SIM_GZ_WH_MIN2 0
+param set-default SIM_GZ_WH_MAX2 200
+param set-default SIM_GZ_WH_DIS2 100
+
+param set-default SIM_GZ_WH_FUNC3 103 # left wheel
+param set-default SIM_GZ_WH_MIN3 0
+param set-default SIM_GZ_WH_MAX3 200
+param set-default SIM_GZ_WH_DIS3 100
+
+param set-default SIM_GZ_WH_FUNC4 104 # left wheel
+param set-default SIM_GZ_WH_MIN4 0
+param set-default SIM_GZ_WH_MAX4 200
+param set-default SIM_GZ_WH_DIS4 100
+
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+
+# param set-default SIM_GZ_WH_REV 1 # reverse right wheel

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -83,6 +83,7 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
+	4012_gz_rover
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -84,6 +84,13 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()
 
+if(CONFIG_MODULES_ACKERMANN_DRIVE)
+	px4_add_romfs_files(
+		rc.rover_ackermann_apps
+		rc.rover_ackermann_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps

@@ -0,0 +1,11 @@
+#!/bin/sh
+# Standard apps for a ackermann drive rover.
+
+# Start the attitude and position estimator.
+ekf2 start &
+
+# Start rover ackermann drive controller.
+ackermann_drive start
+
+# Start Land Detector.
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults

@@ -0,0 +1,12 @@
+
+#!/bin/sh
+# Ackermann rover parameters.
+
+set VEHICLE_TYPE rover_ackermann
+
+param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
+
+param set-default CA_AIRFRAME 5 # Rover (Ackermann)
+param set-default CA_R_REV 3 # Right and left motors reversible
+
+param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -41,6 +41,15 @@ then
 	. ${R}etc/init.d/rc.rover_differential_apps
 fi
 
+#
+# Ackermann Rover setup.
+#
+if [ $VEHICLE_TYPE = rover_ackermann ]
+then
+	# Start ackermann drive rover apps.
+	. ${R}etc/init.d/rc.rover_ackermann_apps
+fi
+
 #
 # VTOL setup.
 #

boards/px4/sitl/default.px4board

@@ -13,6 +13,7 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ACKERMANN_DRIVE=y
 CONFIG_MODULES_EKF2=y
 CONFIG_EKF2_VERBOSE_STATUS=y
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y

src/drivers/px4io/px4io.cpp

@@ -364,13 +364,6 @@ PX4IO::~PX4IO()
 bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			  unsigned num_outputs, unsigned num_control_groups_updated)
 {
-	for (size_t i = 0; i < num_outputs; i++) {
-		if (!_mixing_output.isFunctionSet(i)) {
-			// do not run any signal on disabled channels
-			outputs[i] = 0;
-		}
-	}
-
 	if (!_test_fmu_fail) {
 		/* output to the servos */
 		io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);

src/lib/mixer_module/mixer_module.cpp

@@ -455,8 +455,7 @@ bool MixingOutput::update()
 		}
 	}
 
-	// Send output if any function mapped or one last disabling sample
-	if (!all_disabled || !_was_all_disabled) {
+	if (!all_disabled) {
 		if (!_armed.armed && !_armed.manual_lockdown) {
 			_actuator_test.overrideValues(outputs, _max_num_outputs);
 		}
@@ -464,8 +463,6 @@ bool MixingOutput::update()
 		limitAndUpdateOutputs(outputs, has_updates);
 	}
 
-	_was_all_disabled = all_disabled;
-
 	return true;
 }
 

src/lib/mixer_module/mixer_module.hpp

@@ -288,7 +288,6 @@ private:
 	hrt_abstime _lowrate_schedule_interval{300_ms};
 	ActuatorTest _actuator_test{_function_assignment};
 	uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only)
-	bool _was_all_disabled{false};
 
 	uORB::SubscriptionCallbackWorkItem *_subscription_callback{nullptr}; ///< current scheduling callback
 

src/lib/mixer_module/mixer_module_tests.cpp

@@ -191,15 +191,11 @@ TEST_F(MixerModuleTest, basic)
 	mixing_output.setAllMaxValues(MAX_VALUE);
 	EXPECT_EQ(test_module.num_updates, 0);
 
-	// all functions disabled: expect to get one single update to process disabling the output signal
+	// all functions disabled: not expected to get an update
 	mixing_output.update();
 	mixing_output.updateSubscriptions(false);
 	mixing_output.update();
-	EXPECT_EQ(test_module.num_updates, 1);
-	mixing_output.update();
-	mixing_output.updateSubscriptions(false);
-	mixing_output.update();
-	EXPECT_EQ(test_module.num_updates, 1);
+	EXPECT_EQ(test_module.num_updates, 0);
 	test_module.reset();
 
 	// configure motor, ensure all still disarmed

src/modules/ackermann_drive/AckermannDrive.cpp

@@ -0,0 +1,154 @@
+/****************************************************************************
+ *
+ *   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 "AckermannDrive.hpp"
+
+using namespace time_literals;
+using namespace matrix;
+
+AckermannDrive::AckermannDrive() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
+{
+	updateParams();
+}
+
+bool AckermannDrive::init()
+{
+	ScheduleOnInterval(10_ms); // 100 Hz
+	return true;
+}
+
+void AckermannDrive::updateParams()
+{
+	ModuleParams::updateParams();
+	_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);
+}
+
+void AckermannDrive::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+	}
+
+	hrt_abstime now = hrt_absolute_time();
+
+	if (_parameter_update_sub.updated()) {
+		parameter_update_s pupdate;
+		if(_parameter_update_sub.copy(&pupdate)){
+			updateParams();
+		}
+	}
+
+	if (_vehicle_control_mode_sub.updated()) {
+		vehicle_control_mode_s vehicle_control_mode;
+
+		if (_vehicle_control_mode_sub.copy(&vehicle_control_mode)) {
+			_armed = vehicle_control_mode.flag_armed;
+			_manual_driving = vehicle_control_mode.flag_control_manual_enabled; // change this when more modes are supported
+		}
+	}
+
+	if (_manual_driving) {
+		// Manual mode
+		// directly produce setpoints from the manual control setpoint (joystick)
+		if (_manual_control_setpoint_sub.updated()) {
+			differential_drive_setpoint_s _differential_drive_setpoint{};
+			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_setpoint_pub.publish(_differential_drive_setpoint);
+			}
+		}
+	}
+
+	_ackermann_drive_control.control();
+	_ackermann_drive_kinematics.allocate();
+}
+
+int AckermannDrive::task_spawn(int argc, char *argv[])
+{
+	AckermannDrive *instance = new AckermannDrive();
+
+	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 AckermannDrive::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int AckermannDrive::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_ERR("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Rover state machine.
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("ackermann_drive", "controller");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+	return 0;
+}
+
+extern "C" __EXPORT int ackermann_drive_main(int argc, char *argv[])
+{
+	return AckermannDrive::main(argc, argv);
+}

src/modules/ackermann_drive/AckermannDrive.hpp

@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   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
+
+// 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/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/topics/differential_drive_setpoint.h>
+
+// Standard library includes
+#include <math.h>
+
+// Local includes
+#include "AckermannDriveControl/AckermannDriveControl.hpp"
+//#include "AckermannDriveGuidance/AckermannDriveGuidance.hpp" //TO BE IMPLEMENTED
+#include "AckermannDriveKinematics/AckermannDriveKinematics.hpp"
+
+using namespace time_literals;
+
+class AckermannDrive : public ModuleBase<AckermannDrive>, public ModuleParams,
+	public px4::ScheduledWorkItem
+{
+public:
+	AckermannDrive();
+	~AckermannDrive() override = default;
+
+	/** @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();
+
+protected:
+	void updateParams() override;
+
+private:
+	void Run() override;
+
+	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_control_mode_sub{ORB_ID(vehicle_control_mode)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+
+	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}; // TO BE IMPLEMENTED
+	AckermannDriveKinematics _ackermann_drive_kinematics{this};
+
+	bool _armed = false;
+	bool _manual_driving = false;
+	float _max_speed{0.f};
+	float _max_angular_velocity{0.f};
+
+	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
+	)
+};

src/modules/ackermann_drive/AckermannDriveControl/AckermannDriveControl.cpp

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   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 "AckermannDriveControl.hpp"
+
+using namespace time_literals;
+
+AckermannDriveControl::AckermannDriveControl(ModuleParams *parent) : ModuleParams(parent)
+{
+	updateParams();
+}
+
+void AckermannDriveControl::updateParams()
+{
+	ModuleParams::updateParams();
+}
+
+void AckermannDriveControl::control()
+{
+	_differential_drive_setpoint_sub.update(&_differential_drive_setpoint);
+
+	differential_drive_setpoint_s differential_drive_control_output = _differential_drive_setpoint;
+	differential_drive_control_output.timestamp = hrt_absolute_time();
+	_differential_drive_control_output_pub.publish(differential_drive_control_output);
+}

src/modules/ackermann_drive/AckermannDriveControl/AckermannDriveControl.hpp

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   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
+
+// 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/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/differential_drive_setpoint.h>
+
+
+// Standard library
+#include <math.h>
+
+class AckermannDriveControl : public ModuleParams
+{
+public:
+	AckermannDriveControl(ModuleParams *parent);
+	~AckermannDriveControl() = default;
+
+	void control();
+
+protected:
+	void updateParams() override;
+
+private:
+
+	uORB::Subscription _differential_drive_setpoint_sub{ORB_ID(differential_drive_setpoint)};
+
+	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{};
+};

src/modules/ackermann_drive/AckermannDriveControl/CMakeLists.txt

@@ -0,0 +1,38 @@
+############################################################################
+#
+#   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(AckermannDriveControl
+	AckermannDriveControl.cpp
+)
+
+target_include_directories(AckermannDriveControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/ackermann_drive/AckermannDriveKinematics/AckermannDriveKinematics.cpp

@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   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 "AckermannDriveKinematics.hpp"
+
+using namespace time_literals;
+using namespace matrix;
+
+AckermannDriveKinematics::AckermannDriveKinematics(ModuleParams *parent) : ModuleParams(parent)
+{
+	updateParams();
+}
+
+void AckermannDriveKinematics::allocate()
+{
+	if (_differential_drive_control_output_sub.updated()) {
+		_differential_drive_control_output_sub.copy(&_differential_drive_control_output);
+	}
+
+	double steering = _differential_drive_control_output.yaw_rate;
+	double speed = _differential_drive_control_output.speed;
+	hrt_abstime now = hrt_absolute_time();
+
+	actuator_motors_s actuator_motors{};
+	actuator_motors.reversible_flags = _param_r_rev.get();
+	actuator_motors.control[0] = speed;
+	actuator_motors.control[1] = speed;
+	actuator_motors.timestamp = now;
+	_actuator_motors_pub.publish(actuator_motors);
+
+	// publish data to actuator_servos (output module)
+	actuator_servos_s actuator_servos{};
+	actuator_servos.control[0] = -steering;
+	actuator_servos.control[1] = -steering;
+	actuator_servos.timestamp = now;
+	_actuator_servos_pub.publish(actuator_servos);
+}

src/modules/ackermann_drive/AckermannDriveKinematics/AckermannDriveKinematics.hpp

@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+//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.
+ *
+ * This class provides functions to set the wheel base and radius, and to compute the inverse kinematics
+ * given linear velocity and yaw rate.
+ */
+class AckermannDriveKinematics : public ModuleParams
+{
+public:
+	AckermannDriveKinematics(ModuleParams *parent);
+	~AckermannDriveKinematics() = default;
+
+	void allocate();
+
+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)};
+	uORB::Publication<actuator_servos_s> _actuator_servos_pub{ORB_ID(actuator_servos)};
+
+	differential_drive_setpoint_s _differential_drive_control_output{};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::CA_R_REV>) _param_r_rev
+	)
+};

src/modules/ackermann_drive/AckermannDriveKinematics/CMakeLists.txt

@@ -0,0 +1,38 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+px4_add_library(AckermannDriveKinematics
+	AckermannDriveKinematics.cpp
+)
+
+target_include_directories(AckermannDriveKinematics PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/ackermann_drive/CMakeLists.txt

@@ -0,0 +1,51 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+add_subdirectory(AckermannDriveControl)
+add_subdirectory(AckermannDriveKinematics)
+#add_subdirectory(AckermannDriveGuidance) #TO BE IMPLEMENTED
+
+px4_add_module(
+	MODULE modules__ackermann_drive
+	MAIN ackermann_drive
+	SRCS
+		AckermannDrive.cpp
+		AckermannDrive.hpp
+	DEPENDS
+		AckermannDriveControl
+		AckermannDriveKinematics
+		#AckermannDriveGuidance #TO BE IMPLEMENTED
+		px4_work_queue
+	#MODULE_CONFIG
+	#	module.yaml
+)

src/modules/ackermann_drive/Kconfig

@@ -0,0 +1,6 @@
+menuconfig MODULES_ACKERMANN_DRIVE
+	bool "ackermann_drive"
+	default n
+	depends on MODULES_CONTROL_ALLOCATOR
+	---help---
+		Enable support for control of differential drive rovers

src/modules/ackermann_drive/module.yaml

@@ -0,0 +1,55 @@
+module_name: Ackermann Drive Control
+
+parameters:
+  - group: Rover Ackermann Drive
+    definitions:
+      RDD_WHEEL_BASE:
+        description:
+          short: Wheel base
+          long: Distance from the center of the right wheel to the center of the left wheel
+        type: float
+        unit: m
+        min: 0.001
+        max: 100
+        increment: 0.001
+        decimal: 3
+        default: 0.5
+      RDD_WHEEL_RADIUS:
+        description:
+          short: Wheel radius
+          long: Size of the wheel, half the diameter of the wheel
+        type: float
+        unit: m
+        min: 0.001
+        max: 100
+        increment: 0.001
+        decimal: 3
+        default: 0.1
+      RDD_SPEED_SCALE:
+        description:
+          short: Manual speed scale
+        type: float
+        min: 0
+        max: 1.0
+        increment: 0.01
+        decimal: 2
+        default: 1.0
+      RDD_ANG_SCALE:
+        description:
+          short: Manual angular velocity scale
+        type: float
+        min: 0
+        max: 1.0
+        increment: 0.01
+        decimal: 2
+        default: 1.0
+      RDD_WHL_SPEED:
+        description:
+          short: Maximum wheel speed
+        type: float
+        unit: rad/s
+        min: 0
+        max: 100
+        increment: 0.01
+        decimal: 2
+        default: 10

src/modules/px4iofirmware/mixer.cpp

@@ -180,21 +180,17 @@ mixer_tick()
 	 * Run the mixers.
 	 */
 	if (source == MIX_FAILSAFE) {
-		// Set failsafe value if the PWM output isn't disabled
+		/* copy failsafe values to the servo outputs */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
-			if (r_page_servos[i] != 0) {
 			r_page_servos[i] = r_page_servo_failsafe[i];
 		}
-		}
 
 	} else if (source == MIX_DISARMED) {
-		// Set disarmed value if the PWM output isn't disabled
+		/* copy disarmed values to the servo outputs */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
-			if (r_page_servos[i] != 0) {
 			r_page_servos[i] = r_page_servo_disarmed[i];
 		}
 	}
-	}
 
 	/* set arming */
 	bool needs_to_arm = (should_arm || should_arm_nothrottle || should_always_enable_pwm);

src/modules/simulation/gz_bridge/module.yaml

@@ -33,4 +33,4 @@ actuator_output:
         min: { min: 0, max: 200, default: 0 }
         max: { min: 0, max: 200, default: 200 }
         failsafe: { min: 0, max: 200 }
-      num_channels: 2
+      num_channels: 4