Enable attitude setpoints for rover offboard control #13323
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Jaeyoung-Lim
force-pushed
the
pr-rover-attitude-sp
branch
from
a54e7cc to
7ff893a
Compare
dagar
approved these changes
Oct 30, 2019
AmeliaEScott
approved these changes
Oct 31, 2019
Jaeyoung-Lim
added
Mode: Offboard
|
The control loop is only triggered by the global position and therefore it doesn't work without GPS: https://github.com/PX4/Firmware/blob/7ff893aada7cb1ca25a8a990fad5bc142d5d8dd5/src/modules/rover_pos_control/RoverPositionControl.cpp#L393 See #13427 for a fix. |
Closed
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Describe problem solved by this pull request
This PR adds support for attitude setpoints on rover offboard control. This was a feature request from #13239
Describe your solution
Only the yaw is taken from the difference in attitude between the current attitude and the desired attitude. The thrust is mapped directly to the attitude setpoints.
Test data / coverage
Test log
A constant orientation change is given including changes in roll and pitch. The log shows that the rover only takes the desired yaw and converges into the moving desired yaw setpoint.