Boat Module

[PerFrivik]

Solved Problem

This PR integrates the Boat module with a new architecture that supports modular components such as BoatControl, BoatGuidance, and BoatKinematics. This architecture facilitates the integration with different drive systems like Differential Drive and Ackermann Drive. The module is designed for scalability, allowing for future adaptations to various types of boats by adjusting components like kinematics to suit specific needs.

Fixes #{Github issue ID}

Solution

• Added support for new architecture in Boat module.
• Refactored existing code to improve modularity.

Changelog Entry

For release notes:

Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarify page ... / done, read docs.px4.io/...

Alternatives

We could also ...

Test coverage

• Unit/integration test: ...
• Hardware test: https://review.px4.io/plot_app?log=b9f5f965-4b3f-4131-9ae3-92e2e4860261

Context

Related links, screenshot before/after, video

[igalloway]

Hi @PerFrivik
Would you be able to share a bit more about your setup? What type of boat are you testing on? I would be interested in attempting to replicate/build up a boat config for testing using our NXP RT1176 based VMU/FMU. (NXP ref design similar to Holybro V6X-RT)
https://docs.px4.io/main/en/flight_controller/pixhawk6x-rt.html

[PerFrivik]

Hi @PerFrivik Would you be able to share a bit more about your setup? What type of boat are you testing on? I would be interested in attempting to replicate/build up a boat config for testing using our NXP RT1176 based VMU/FMU. (NXP ref design similar to Holybro V6X-RT) https://docs.px4.io/main/en/flight_controller/pixhawk6x-rt.html

Yes of course! I used the setup that @junwoo091400 set up quite a while ago, which can be found here.

[PerFrivik]

Keep in mind this PR is subject to change, I will most likely replace the L1 with a pure pursuit.

[hamishwillee]

@PerFrivik We'll need to discuss then when it goes in for docs.

[PerFrivik]

@PerFrivik We'll need to discuss then when it goes in for docs.

Yes I agree, I'll tag you then!

[dagar]

This is kind of pedantic, but if it makes sense try to keep the actual data type (the .msg file) more generically useful (speed and heading setpoint?) then the actual topic could be the specific boat_setpoint, etc.

[PerFrivik]

Sounds good, thank you for your input! I'm doing quite the revamp on the controller and this was exactly one of my questions.