Differential Rover: PR fixes

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -3,7 +3,7 @@
 # @name Rover
 #
 
-. ${R}etc/init.d/rc.rover_ackermann_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 param set-default GND_L1_DIST 5
 param set-default GND_L1_PERIOD 10

ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover

@@ -6,29 +6,7 @@
 
 . ${R}etc/init.d/rc.rover_differential_defaults
 
-param set-default GND_L1_DIST 5
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 3
-param set-default GND_SPEED_I 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
-
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
-
-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
-
-param set-default CA_AIRFRAME 6
-
-param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102
-

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -1,5 +1,4 @@
 #!/bin/sh
-#
 # @name Aion Robotics R1 Rover
 # @type Rover
 # @class Rover
@@ -10,39 +9,23 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
 
-param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+# Simulated sensors
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
-param set-default COM_PREARM_MODE 2
+# Actuator mapping
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_DIS1 100
 
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+param set-default SIM_GZ_WH_MIN2 0
+param set-default SIM_GZ_WH_MAX2 200
+param set-default SIM_GZ_WH_DIS2 100
 
-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
-
-param set-default CA_R_REV 3
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MAX1 200
-param set-default SIM_GZ_EC_DIS1 100
-
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MAX2 200
-param set-default SIM_GZ_EC_DIS2 100
-
-param set-default SIM_GZ_MT_FUNC1 101
-param set-default SIM_GZ_MT_MIN1 0
-param set-default SIM_GZ_MT_MAX1 200
-param set-default SIM_GZ_MT_DIS1 100
-
-param set-default SIM_GZ_MT_FUNC2 102
-param set-default SIM_GZ_MT_MIN2 0
-param set-default SIM_GZ_MT_MAX2 200
-param set-default SIM_GZ_MT_DIS2 100
+param set-default SIM_GZ_WH_REV 1 # reverse right wheel

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -53,8 +53,6 @@ px4_add_romfs_files(
 	rc.rover_defaults
 	rc.rover_differential_apps
 	rc.rover_differential_defaults
-	rc.rover_ackermann_apps
-	rc.rover_ackermann_defaults
 	rc.uuv_apps
 	rc.uuv_defaults
 	rc.vehicle_setup

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -13,7 +13,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.rover_ackermann_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 
 param set-default BAT1_N_CELLS 2

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -13,50 +13,13 @@
 
 . ${R}etc/init.d/rc.rover_differential_defaults
 
-
-
 param set-default BAT1_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_MAG_TYPE 1
-
-param set-default FW_AIRSPD_MIN 0
-param set-default FW_AIRSPD_TRIM 1
-param set-default FW_AIRSPD_MAX 3
-
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 3
-param set-default GND_THR_CRUISE 0.7
-param set-default GND_THR_MAX 0.5
-
-# Because this is differential drive, it can make a turn with radius 0.
-# This corresponds to a turn angle of pi radians.
-# If a special case is made for differential-drive, this will need to change.
-param set-default GND_MAX_ANG 3.142
-param set-default GND_WHEEL_BASE 0.3
-
-# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
-# to support negative throttle.
-param set-default GND_THR_MIN 0
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_THR_SC 1
-
-param set-default NAV_ACC_RAD 0.5
-
-# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
-param set-default GND_MAX_ANG 3.1415
 
 # Set geometry & output configration
-param set-default CA_AIRFRAME 6
-param set-default CA_R_REV 3
-
-
 param set-default RBCLW_ADDRESS 128
 param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
-param set-default RBCLW_REV 1
+param set-default RBCLW_REV 1 # reverse right wheels

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -9,8 +9,6 @@
 # Start the attitude and position estimator.
 #
 ekf2 start &
-#attitude_estimator_q start
-#local_position_estimator start
 
 #
 # Start Control Allocator

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -1,24 +1,11 @@
 #!/bin/sh
-#
-# Standard apps for unmanned ground vehicles (UGV).
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
+# Standard apps for a differential drive rover.
 
-#
 # Start the attitude and position estimator.
-#
 ekf2 start &
-#attitude_estimator_q start
-#local_position_estimator start
 
-#
-# Start manual rover differential drive controller.
-#
+# Start rover differential drive controller.
 differential_drive_control start
 
-
-#
 # Start Land Detector.
-#
 land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults

@@ -1,11 +1,11 @@
 #!/bin/sh
-#
-# UGV default parameters.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
+# Differential rover parameters.
 
 set VEHICLE_TYPE rover_differential
 
-# MAV_TYPE_GROUND_ROVER 10
-param set-default MAV_TYPE 10
+param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
+
+param set-default CA_AIRFRAME 6 # Rover (Differential)
+param set-default CA_R_REV 3 # Right and left motors reversible
+
+param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -24,30 +24,21 @@ then
 fi
 
 #
-# Differential Rover setup.
-#
-if [ $VEHICLE_TYPE = rover_differential ]
-then
-	# Start standard UGV apps.
-	. ${R}etc/init.d/rc.rover_differential_apps
-fi
-
-#
-# Ackermann Rover setup.
+# UGV setup.
 #
-if [ $VEHICLE_TYPE = rover_ackermann ]
+if [ $VEHICLE_TYPE = rover ]
 then
 	# Start standard UGV apps.
-	. ${R}etc/init.d/rc.rover_ackermann_apps
+	. ${R}etc/init.d/rc.rover_apps
 fi
 
 #
-# UGV setup.
+# Differential Rover setup.
 #
-if [ $VEHICLE_TYPE = rover ]
+if [ $VEHICLE_TYPE = rover_differential ]
 then
-	# Start standard UGV apps.
-	. ${R}etc/init.d/rc.rover_apps
+	# Start differential drive rover apps.
+	. ${R}etc/init.d/rc.rover_differential_apps
 fi
 
 #

boards/px4/fmu-v5x/default.px4board

@@ -7,7 +7,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
-CONFIG_MODULE_DIFFERENTIAL_DRIVE_CONTROL=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -54,6 +53,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_DIFFERENTIAL_DRIVE_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y

boards/px4/sitl/default.px4board

@@ -12,7 +12,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULE_DIFFERENTIAL_DRIVE_CONTROL=y
+CONFIG_MODULES_DIFFERENTIAL_DRIVE_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 CONFIG_MODULES_EVENTS=y

platforms/common/include/px4_platform_common/module.h

@@ -91,7 +91,7 @@ extern pthread_mutex_t px4_modules_mutex;
  *      static int custom_command(int argc, char *argv[])
  *      {
  *              // support for custom commands
- *              // it none are supported, just do:
+ *              // if none are supported, just do:
  *              return print_usage("unrecognized command");
  *      }
  *

platforms/ros2/include/px4_platform_common/module.h

@@ -75,7 +75,7 @@
  *      static int custom_command(int argc, char *argv[])
  *      {
  *              // support for custom commands
- *              // it none are supported, just do:
+ *              // if none are supported, just do:
  *              return print_usage("unrecognized command");
  *      }
  *

src/modules/control_allocator/ControlAllocator.cpp

@@ -61,7 +61,6 @@ ControlAllocator::ControlAllocator() :
 	_actuator_servos_pub.advertise();
 	_actuator_servos_trim_pub.advertise();
 
-
 	for (int i = 0; i < MAX_NUM_MOTORS; ++i) {
 		char buffer[17];
 		snprintf(buffer, sizeof(buffer), "CA_R%u_SLEW", i);
@@ -240,7 +239,7 @@ ControlAllocator::update_effectiveness_source()
 			break;
 
 		case EffectivenessSource::ROVER_DIFFERENTIAL:
-			// actuator_motors message is published directly from the differential drive controller
+			// differential_drive_control does allocation and publishes directly to actuator_motors topic
 			break;
 
 		case EffectivenessSource::FIXED_WING:

src/modules/differential_drive_control/CMakeLists.txt

@@ -30,17 +30,18 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
 add_subdirectory(DifferentialDriveKinematics)
 
 px4_add_module(
 	MODULE modules__differential_drive_control
 	MAIN differential_drive_control
-	COMPILE_FLAGS
-		#-DDEBUG_BUILD
 	SRCS
 		DifferentialDriveControl.cpp
 		DifferentialDriveControl.hpp
 	DEPENDS
 		DifferentialDriveKinematics
 		px4_work_queue
+	MODULE_CONFIG
+		module.yaml
 )