Rover: add guided velocity controler #5735
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Just mentioning that this PR includes the commits from #5734 so be careful when merging this so that we don't end up with duplicate commits in master. |
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Hi khancyr. Can you please remove the commits from #5734 as I have already merged that in. Thanks, Grant. |
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@gmorph done! |
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We need to test this A LOT. @khancyr - have you done much SITL and real world testing with this? |
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@gmorph I used this with SITL and Gazebo mostly on skid steer configuration: see https://www.youtube.com/watch?v=o0zC7NgNBgE&index=8&list=PL6sCNLbHuYxYyFWLTq3E-R2cV1CrEoYOe for example. I don't have access to rover anymore so I can't test on pixhawk ... |
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rebased on master |
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I need to test this - sorry for the delay. |
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rebased ! |
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rebased |
| if (verify_RTL()) { | ||
| SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get()); | ||
| set_mode(HOLD); | ||
| } else { | ||
| calc_lateral_acceleration(); | ||
| calc_nav_steer(); |
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These changes and the one below have nothing to do guided velocity controller. They are just a re-order. Good idea but I would of preferred this to be in a separate commit. In fact if this was in a separate PR a quick test and I could of merged this straight in. But as it stands it adds time and complexity to the review process.
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I should have done that ! I extract them now
| bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE; | ||
| bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE; | ||
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| // record the time where the last message arrived |
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"when" the last message arrived - not "where"
APMrover2/GCS_Mavlink.cpp
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| float ne_x = packet.x*rover.ahrs.cos_yaw() - packet.y*rover.ahrs.sin_yaw(); | ||
| float ne_y = packet.x*rover.ahrs.sin_yaw() + packet.y*rover.ahrs.cos_yaw(); | ||
| float ne_x = packet.x * rover.ahrs.cos_yaw() - packet.y * rover.ahrs.sin_yaw(); | ||
| float ne_y = packet.x * rover.ahrs.sin_yaw() + packet.y * rover.ahrs.cos_yaw(); |
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AGAIN whitespace changes should be in a separate commit.
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it was in a function I modified ... so a PR for 2 spaces ... I know somebody that will to kill me ;-P
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rebased, correct the last comment : extract unrelated changes, extract style only changes |
This PR add the support of velocity control in guided mode (msg SET_POSITION). It is based on @rmackay9 previous works.
It has been tested on SITL with ROS and in gazebo