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rover: streamline rover steering setpoint

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This commit is contained in:
chfriedrich98
2025-05-28 10:37:27 +02:00
committed by chfriedrich98
parent 4a5c00d0e4
commit 5a430f0ba6
12 changed files with 13 additions and 15 deletions
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msg/RoverSteeringSetpoint.msg
+1 -3
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@@ -1,5 +1,3 @@
uint64 timestamp # time since system start (microseconds)
float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Ackermann only, Positiv: Steer right, Negativ: Steer left)
float32 normalized_speed_diff # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Differential/Mecanum only, Positiv = Turn right, Negativ: Turn left)
float32 normalized_steering_setpoint # [-1, 1] Positiv = Turn right, Negativ: Turn left (Ackermann: Steering angle, Differential/Mecanum: Speed difference between the left and right wheels)
src/modules/rover_ackermann/AckermannActControl/AckermannActControl.cpp
+1 -1
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@@ -83,7 +83,7 @@ void AckermannActControl::updateActControl()
if (_rover_steering_setpoint_sub.updated()) {
rover_steering_setpoint_s rover_steering_setpoint{};
_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
_steering_setpoint = rover_steering_setpoint.normalized_steering_angle;
_steering_setpoint = rover_steering_setpoint.normalized_steering_setpoint;
}
if (PX4_ISFINITE(_steering_setpoint)) {
src/modules/rover_ackermann/AckermannRateControl/AckermannRateControl.cpp
+2 -2
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@@ -96,7 +96,7 @@ void AckermannRateControl::updateRateControl()
rover_steering_setpoint_s rover_steering_setpoint{};
rover_steering_setpoint.timestamp = _timestamp;
rover_steering_setpoint.normalized_steering_angle = math::interpolate<float>(steering_setpoint,
rover_steering_setpoint.normalized_steering_setpoint = math::interpolate<float>(steering_setpoint,
-_param_ra_max_str_ang.get(), _param_ra_max_str_ang.get(), -1.f, 1.f); // Normalize steering setpoint
_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
@@ -104,7 +104,7 @@ void AckermannRateControl::updateRateControl()
_pid_yaw_rate.resetIntegral();
rover_steering_setpoint_s rover_steering_setpoint{};
rover_steering_setpoint.timestamp = _timestamp;
rover_steering_setpoint.normalized_steering_angle = 0.f;
rover_steering_setpoint.normalized_steering_setpoint = 0.f;
_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
}
}
src/modules/rover_ackermann/DriveModes/ManualMode/ManualMode.cpp
+1 -1
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@@ -58,7 +58,7 @@ void ManualMode::manual()
_manual_control_setpoint_sub.copy(&manual_control_setpoint);
rover_steering_setpoint_s rover_steering_setpoint{};
rover_steering_setpoint.timestamp = hrt_absolute_time();
rover_steering_setpoint.normalized_steering_angle = manual_control_setpoint.roll;
rover_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.roll;
_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
rover_throttle_setpoint_s rover_throttle_setpoint{};
rover_throttle_setpoint.timestamp = hrt_absolute_time();
src/modules/rover_differential/DifferentialActControl/DifferentialActControl.cpp
+1 -1
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@@ -65,7 +65,7 @@ void DifferentialActControl::updateActControl()
if (_rover_steering_setpoint_sub.updated()) {
rover_steering_setpoint_s rover_steering_setpoint{};
_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
_speed_diff_setpoint = rover_steering_setpoint.normalized_speed_diff;
_speed_diff_setpoint = rover_steering_setpoint.normalized_steering_setpoint;
}
if (PX4_ISFINITE(_throttle_setpoint) && PX4_ISFINITE(_speed_diff_setpoint)) {
src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.cpp
+1 -1
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@@ -58,7 +58,7 @@ void DifferentialManualMode::manual()
_manual_control_setpoint_sub.copy(&manual_control_setpoint);
rover_steering_setpoint_s rover_steering_setpoint{};
rover_steering_setpoint.timestamp = hrt_absolute_time();
rover_steering_setpoint.normalized_speed_diff = manual_control_setpoint.roll;
rover_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.roll;
_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
rover_throttle_setpoint_s rover_throttle_setpoint{};
rover_throttle_setpoint.timestamp = hrt_absolute_time();
src/modules/rover_differential/DifferentialRateControl/DifferentialRateControl.cpp
+1 -1
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@@ -82,7 +82,7 @@ void DifferentialRateControl::updateRateControl()
_param_ro_yaw_decel_limit.get() * M_DEG_TO_RAD_F, _param_rd_wheel_track.get(), dt);
rover_steering_setpoint_s rover_steering_setpoint{};
rover_steering_setpoint.timestamp = _timestamp;
rover_steering_setpoint.normalized_speed_diff = speed_diff_normalized;
rover_steering_setpoint.normalized_steering_setpoint = speed_diff_normalized;
_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
} else {
src/modules/rover_differential/DifferentialVelControl/DifferentialVelControl.cpp
+1 -1
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@@ -149,7 +149,7 @@ float DifferentialVelControl::calcSpeedSetpoint()
if (_rover_steering_setpoint_sub.updated()) {
rover_steering_setpoint_s rover_steering_setpoint{};
_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
_normalized_speed_diff = rover_steering_setpoint.normalized_speed_diff;
_normalized_speed_diff = rover_steering_setpoint.normalized_steering_setpoint;
}
if (fabsf(speed_setpoint_normalized) > 1.f - fabsf(
src/modules/rover_mecanum/MecanumActControl/MecanumActControl.cpp
+1 -1
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@@ -67,7 +67,7 @@ void MecanumActControl::updateActControl()
if (_rover_steering_setpoint_sub.updated()) {
rover_steering_setpoint_s rover_steering_setpoint{};
_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
_speed_diff_setpoint = rover_steering_setpoint.normalized_speed_diff;
_speed_diff_setpoint = rover_steering_setpoint.normalized_steering_setpoint;
}
if (PX4_ISFINITE(_throttle_x_setpoint) && PX4_ISFINITE(_throttle_y_setpoint) && PX4_ISFINITE(_speed_diff_setpoint)) {
src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.cpp
+1 -1
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@@ -58,7 +58,7 @@ void MecanumManualMode::manual()
_manual_control_setpoint_sub.copy(&manual_control_setpoint);
rover_steering_setpoint_s rover_steering_setpoint{};
rover_steering_setpoint.timestamp = hrt_absolute_time();
rover_steering_setpoint.normalized_speed_diff = manual_control_setpoint.yaw;
rover_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.yaw;
_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
rover_throttle_setpoint_s rover_throttle_setpoint{};
rover_throttle_setpoint.timestamp = hrt_absolute_time();
src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.cpp
+1 -1
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@@ -82,7 +82,7 @@ void MecanumRateControl::updateRateControl()
_param_ro_yaw_decel_limit.get() * M_DEG_TO_RAD_F, _param_rm_wheel_track.get(), dt);
rover_steering_setpoint_s rover_steering_setpoint{};
rover_steering_setpoint.timestamp = _timestamp;
rover_steering_setpoint.normalized_speed_diff = speed_diff_normalized;
rover_steering_setpoint.normalized_steering_setpoint = speed_diff_normalized;
_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
} else {
src/modules/rover_mecanum/MecanumVelControl/MecanumVelControl.cpp
+1 -1
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@@ -154,7 +154,7 @@ Vector2f MecanumVelControl::calcSpeedSetpoint()
if (_rover_steering_setpoint_sub.updated()) {
rover_steering_setpoint_s rover_steering_setpoint{};
_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
_normalized_speed_diff = rover_steering_setpoint.normalized_speed_diff;
_normalized_speed_diff = rover_steering_setpoint.normalized_steering_setpoint;
}
float speed_x_setpoint_normalized = math::interpolate<float>(_speed_x_setpoint,