Rewrote gnd_pos_control and removed gnd_att_control #12239
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AmeliaEScott
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gnd_pos_control and removed gnd_att_control
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Can you fix the CI failures? The new v5x config needs to be updated. |
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@dagar The CI problems have been fixed, sorry about that! |
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Describe problem solved by the proposed pull request
The original implementation of ground rover control was based on fixed wing control, and so included unnecessary code for attitude control. This caused some problems with edge cases, such as loitering and return to launch for rovers.
Resolves #11956
Test data / coverage
This was tested both in SITL with
gazebo_roverand on the Aion R1 rover.Describe your preferred solution
The L1 controller outputs a desired turn radius. With a fixed-wing craft, this is used to calculate a desired roll angle, and then an attitude controller is used to hold this roll angle. With a ground rover, the turn radius can be achieved directly by just knowing the geometry of the vehicle and outputting a constant turn control. Thus, all of the ground "attitude control" code can be removed.
Describe possible alternatives
The existing solution treated the ground rover like a fixed-wing craft, as mentioned before. This works overall, but there are edge cases that would need to be individually addressed. However, the solution in this pull request will provide a more stable foundation for further rover functionality.