mixer_module: send a last sample out after all outputs were disabled

This matters for PWM when the last output gets disabled on either FMU or IO
it would just keep on running.

Also when rebooting with a parameters reset or new airframe with no mapped outputs
it would previously keep outputting PWM with the disarmed value of the new airframe
e.g. 1000us which is a safety hazard because servos could break the physical limit of the
model or miscalibrated ESCs spinning motors.

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

@@ -1,44 +0,0 @@
-#!/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

@@ -83,7 +83,6 @@ 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

@@ -84,13 +84,6 @@ 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

@@ -1,11 +0,0 @@
-#!/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

@@ -1,12 +0,0 @@
-
-#!/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

@@ -41,15 +41,6 @@ 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

@@ -13,7 +13,6 @@ 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

@@ -364,6 +364,13 @@ 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

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

src/lib/mixer_module/mixer_module.hpp

@@ -288,6 +288,7 @@ 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

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

src/modules/ackermann_drive/AckermannDrive.cpp

@@ -1,154 +0,0 @@
-/****************************************************************************
- *
- *   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

@@ -1,110 +0,0 @@
-/****************************************************************************
- *
- *   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

@@ -1,55 +0,0 @@
-/****************************************************************************
- *
- *   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

@@ -1,71 +0,0 @@
-/****************************************************************************
- *
- *   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

@@ -1,38 +0,0 @@
-############################################################################
-#
-#   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

@@ -1,67 +0,0 @@
-/****************************************************************************
- *
- *   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

@@ -1,74 +0,0 @@
-/****************************************************************************
- *
- *   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

@@ -1,38 +0,0 @@
-############################################################################
-#
-#   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

@@ -1,51 +0,0 @@
-############################################################################
-#
-#   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

@@ -1,6 +0,0 @@
-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

@@ -1,55 +0,0 @@
-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

@@ -180,15 +180,19 @@ mixer_tick()
 	 * Run the mixers.
 	 */
 	if (source == MIX_FAILSAFE) {
-		/* copy failsafe values to the servo outputs */
+		// Set failsafe value if the PWM output isn't disabled
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
-			r_page_servos[i] = r_page_servo_failsafe[i];
+			if (r_page_servos[i] != 0) {
+				r_page_servos[i] = r_page_servo_failsafe[i];
+			}
 		}
 
 	} else if (source == MIX_DISARMED) {
-		/* copy disarmed values to the servo outputs */
+		// Set disarmed value if the PWM output isn't disabled
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
-			r_page_servos[i] = r_page_servo_disarmed[i];
+			if (r_page_servos[i] != 0) {
+				r_page_servos[i] = r_page_servo_disarmed[i];
+			}
 		}
 	}
 

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: 4
+      num_channels: 2