Enable Offboard Bodyrate control for Rovers #15257
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Jaeyoung-Lim
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| void | ||
| RoverPositionControl::run() | ||
| { | ||
| _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); | ||
| _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); | ||
| _local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); | ||
| _vehicle_angular_velocity_sub = orb_subscribe(ORB_ID(vehicle_angular_velocity)); |
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We should switch these to uORB::Subscription at some point.
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Right, I will do it on a separate PR
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I actually don't think it's worth preserving the "ECL" controllers. I think if we manually inlined the subset of methods it could all be collapsed into a relatively tiny amount of code. For example the multicopter rate controller. https://github.com/PX4/Firmware/blob/8763d71bf0b603e0da42ea16fceae7fd2590546f/src/modules/mc_rate_control/RateControl/RateControl.cpp#L63-L67 There are also some in progress FW modifications here. #15256 |
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@dagar In that case, should I move the base class into the Roverattitude controller? |
That works for now unless you want to absorb it entirely. A common PID class or even rate controller could make sense at some point, I just think we can do better than that ECL code. |
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This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
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@Jaeyoung-Lim What's the state here? |
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@LorenzMeier Sorry for dragging this on. I will wrap this up this week |
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Describe problem solved by this pull request
Previously, rover steering control has been mainly done in a open-loop fashion by simply setting the steering angle from the controller.
However, this results in unstable and unpredictable steering behaviors in high speed as well as uneven terrain. This open loop control also have been shown to introduce oscillations when using on boats.
Describe your solution
This PR adds a bodyrate controller (yaw) that can be activated through offboard control on the rover. This is mainly to demonstrate the rate control behaviors on the rover.
This also moves the ECL_Controller baseclass that was recently moved to the firmware from PX4/ecl to a library, so that it can be used in the
rover_pos_controlleras well as thefw_att_controllerTest data / coverage
Offboard control log: https://review.px4.io/plot_app?log=a30ebfd4-96cb-4fc8-9e55-8606fb5ef4b5
Additional Context
Switching to a body rate based controller will bring the following benefits
GND_MAX_ANGand minimize the difference between the differential rover and ackerman steering vehicle (Rover: Steering angle parameters for differential steering vehicles #13468)