RoverPositionControl.hpp

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/**
 *
 * This module is a modification of the fixed wing module and it is designed for ground rovers.
 * It has been developed starting from the fw module, simplified and improved with dedicated items.
 *
 * All the ackowledgments and credits for the fw wing app are reported in those files.
 *
 * @author Marco Zorzi <mzorzi@student.ethz.ch>
 */

#include <float.h>

#include <drivers/drv_hrt.h>
#include <lib/ecl/geo/geo.h>
#include <lib/ecl/l1/ecl_l1_pos_controller.h>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <lib/pid/pid.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <uORB/Subscription.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/ekf2_timestamps.h>
#include <uORB/uORB.h>

using matrix::Dcmf;

using uORB::SubscriptionData;

class RoverPositionControl : public ModuleBase<RoverPositionControl>, public ModuleParams
{
public:
    RoverPositionControl();
    ~RoverPositionControl();
    RoverPositionControl(const RoverPositionControl &) = delete;
    RoverPositionControl operator=(const RoverPositionControl &other) = delete;

    /** @see ModuleBase */
    static int task_spawn(int argc, char *argv[]);

    /** @see ModuleBase */
    static RoverPositionControl *instantiate(int argc, char *argv[]);

    static int custom_command(int argc, char *argv[]);

    /** @see ModuleBase */
    static int print_usage(const char *reason = nullptr);

    /** @see ModuleBase::run() */
    void run() override;

private:
    uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)};
    uORB::Publication<actuator_controls_s>      _actuator_controls_pub{ORB_ID(actuator_controls_0)};

    int     _control_mode_sub{-1};          /**< control mode subscription */
    int     _global_pos_sub{-1};
    int     _local_pos_sub{-1};
    int     _manual_control_sub{-1};        /**< notification of manual control updates */
    int     _pos_sp_triplet_sub{-1};
    int     _att_sp_sub{-1};
    int     _vehicle_attitude_sub{-1};
    int     _sensor_combined_sub{-1};

    uORB::Subscription  _parameter_update_sub{ORB_ID(parameter_update)};

    manual_control_setpoint_s       _manual{};          /**< r/c channel data */
    position_setpoint_triplet_s     _pos_sp_triplet{};      /**< triplet of mission items */
    vehicle_attitude_setpoint_s     _att_sp{};          /**< attitude setpoint > */
    vehicle_control_mode_s          _control_mode{};        /**< control mode */
    vehicle_global_position_s       _global_pos{};          /**< global vehicle position */
    vehicle_local_position_s        _local_pos{};           /**< global vehicle position */
    actuator_controls_s         _act_controls{};        /**< direct control of actuators */
    vehicle_attitude_s          _vehicle_att{};
    sensor_combined_s           _sensor_combined{};

    SubscriptionData<vehicle_acceleration_s>        _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};

    perf_counter_t  _loop_perf;         /**< loop performance counter */

    hrt_abstime _control_position_last_called{0};   /**<last call of control_position  */

    /* Pid controller for the speed. Here we assume we can control airspeed but the control variable is actually on
     the throttle. For now just assuming a proportional scaler between controlled airspeed and throttle output.*/
    PID_t _speed_ctrl{};

    // estimator reset counters
    uint8_t _pos_reset_counter{0};      // captures the number of times the estimator has reset the horizontal position

    ECL_L1_Pos_Controller               _gnd_control;

    bool _waypoint_reached{false};

    enum UGV_POSCTRL_MODE {
        UGV_POSCTRL_MODE_AUTO,
        UGV_POSCTRL_MODE_OTHER
    } _control_mode_current{UGV_POSCTRL_MODE_OTHER};            ///< used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::GND_L1_PERIOD>) _param_l1_period,
        (ParamFloat<px4::params::GND_L1_DAMPING>) _param_l1_damping,
        (ParamFloat<px4::params::GND_L1_DIST>) _param_l1_distance,

        (ParamFloat<px4::params::GND_SPEED_TRIM>) _param_gndspeed_trim,
        (ParamFloat<px4::params::GND_SPEED_MAX>) _param_gndspeed_max,

        (ParamInt<px4::params::GND_SP_CTRL_MODE>) _param_speed_control_mode,
        (ParamFloat<px4::params::GND_SPEED_P>) _param_speed_p,
        (ParamFloat<px4::params::GND_SPEED_I>) _param_speed_i,
        (ParamFloat<px4::params::GND_SPEED_D>) _param_speed_d,
        (ParamFloat<px4::params::GND_SPEED_IMAX>) _param_speed_imax,
        (ParamFloat<px4::params::GND_SPEED_THR_SC>) _param_throttle_speed_scaler,

        (ParamFloat<px4::params::GND_THR_MIN>) _param_throttle_min,
        (ParamFloat<px4::params::GND_THR_MAX>) _param_throttle_max,
        (ParamFloat<px4::params::GND_THR_CRUISE>) _param_throttle_cruise,

        (ParamFloat<px4::params::GND_WHEEL_BASE>) _param_wheel_base,
        (ParamFloat<px4::params::GND_MAX_ANG>) _param_max_turn_angle
    )

    /**
     * Update our local parameter cache.
     */
    void parameters_update(bool force = false);

    void        manual_control_setpoint_poll();
    void        position_setpoint_triplet_poll();
    void        attitude_setpoint_poll();
    void        vehicle_control_mode_poll();
    void        vehicle_attitude_poll();

    /**
     * Control position.
     */
    bool        control_position(const matrix::Vector2f &global_pos, const matrix::Vector3f &ground_speed,
                     const position_setpoint_triplet_s &_pos_sp_triplet);
    void        control_velocity(const matrix::Vector3f &current_velocity, const position_setpoint_triplet_s &pos_sp_triplet);
    void        control_attitude(const vehicle_attitude_s &att, const vehicle_attitude_setpoint_s &att_sp);

};