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[offboard control] allow for direct actuator control #22222

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merged 2 commits into from Nov 23, 2023
Merged

[offboard control] allow for direct actuator control #22222

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88be867
[offboard] add thrust and torque control mode
beniaminopozzan Oct 14, 2023
bbb06df
[uxrce_dds] add vehicle_thrust_setpoint, vehicle_torque_setpoint
beniaminopozzan Oct 15, 2023
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3 changes: 2 additions & 1 deletion msg/OffboardControlMode.msg
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Expand Up @@ -7,4 +7,5 @@ bool velocity
bool acceleration
bool attitude
bool body_rate
bool actuator
bool thrust_and_torque
bool direct_actuator
2 changes: 1 addition & 1 deletion src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp
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Expand Up @@ -48,7 +48,7 @@ void OffboardChecks::checkAndReport(const Context &context, Report &reporter)

bool offboard_available = (offboard_control_mode.position || offboard_control_mode.velocity
|| offboard_control_mode.acceleration || offboard_control_mode.attitude || offboard_control_mode.body_rate
|| offboard_control_mode.actuator) && data_is_recent;
|| offboard_control_mode.thrust_and_torque || offboard_control_mode.direct_actuator) && data_is_recent;

if (offboard_control_mode.position && reporter.failsafeFlags().local_position_invalid) {
offboard_available = false;
Expand Down
24 changes: 19 additions & 5 deletions src/modules/commander/ModeUtil/control_mode.cpp
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Expand Up @@ -46,19 +46,20 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
const offboard_control_mode_s &offboard_control_mode,
vehicle_control_mode_s &vehicle_control_mode)
{
vehicle_control_mode.flag_control_allocation_enabled = true; // Always enabled by default

switch (nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = stabilization_required(vehicle_type);
vehicle_control_mode.flag_control_attitude_enabled = stabilization_required(vehicle_type);
vehicle_control_mode.flag_control_allocation_enabled = true;
break;

case vehicle_status_s::NAVIGATION_STATE_STAB:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;

case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
Expand All @@ -67,6 +68,7 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;

case vehicle_status_s::NAVIGATION_STATE_POSCTL:
Expand All @@ -77,6 +79,7 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;

case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
Expand All @@ -93,18 +96,21 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;

case vehicle_status_s::NAVIGATION_STATE_ACRO:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;

case vehicle_status_s::NAVIGATION_STATE_DESCEND:
vehicle_control_mode.flag_control_auto_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;

case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
Expand All @@ -121,28 +127,36 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_acceleration_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;

} else if (offboard_control_mode.velocity) {
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_acceleration_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;

} else if (offboard_control_mode.acceleration) {
vehicle_control_mode.flag_control_acceleration_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;

} else if (offboard_control_mode.attitude) {
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;

} else if (offboard_control_mode.body_rate) {
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;

} else if (offboard_control_mode.thrust_and_torque) {
vehicle_control_mode.flag_control_allocation_enabled = true;
}

break;
Expand Down
12 changes: 12 additions & 0 deletions src/modules/uxrce_dds_client/dds_topics.yaml
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Expand Up @@ -136,5 +136,17 @@ subscriptions:
- topic: /fmu/in/vehicle_trajectory_waypoint
type: px4_msgs::msg::VehicleTrajectoryWaypoint

- topic: /fmu/in/vehicle_thrust_setpoint
type: px4_msgs::msg::VehicleThrustSetpoint

- topic: /fmu/in/vehicle_torque_setpoint
type: px4_msgs::msg::VehicleTorqueSetpoint

- topic: /fmu/in/actuator_motors
type: px4_msgs::msg::ActuatorMotors

- topic: /fmu/in/actuator_servos
type: px4_msgs::msg::ActuatorServos

# Create uORB::PublicationMulti
subscriptions_multi: