Rover Ackermann module (PX4#23024)

New module handling Ackermann rover guidance and control.
Only enabled in SITL and in the rover builds for now.

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -84,6 +84,13 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_ACKERMANN)
+	px4_add_romfs_files(
+		rc.rover_ackermann_apps
+		rc.rover_ackermann_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps

ROMFS/px4fmu_common/init.d/airframes/50010_ackermann_rover_generic

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Generic ackermann rover
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -149,6 +149,12 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_ACKERMANN)
+	px4_add_romfs_files(
+		50010_ackermann_rover_generic
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps

@@ -0,0 +1,11 @@
+#!/bin/sh
+# Standard apps for a ackermann drive rover.
+
+# Start the attitude and position estimator.
+ekf2 start &
+
+# Start rover ackermann drive controller.
+rover_ackermann start
+
+# Start Land Detector.
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults

@@ -0,0 +1,13 @@
+#!/bin/sh
+# Ackermann rover parameters.
+
+set VEHICLE_TYPE rover_ackermann
+param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 5 # Rover (Ackermann)
+param set-default CA_R_REV 1 # Motor is assumed to be reversible
+param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
+param set-default NAV_RCL_ACT 6 # Disarm on manual control loss
+param set-default COM_FAIL_ACT_T 1 # Delay before failsafe after rc loss

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -41,6 +41,15 @@ then
 	. ${R}etc/init.d/rc.rover_differential_apps
 fi
 
+#
+# Ackermann Rover setup.
+#
+if [ $VEHICLE_TYPE = rover_ackermann ]
+then
+	# Start ackermann drive rover apps.
+	. ${R}etc/init.d/rc.rover_ackermann_apps
+fi
+
 #
 # VTOL setup.
 #

boards/px4/fmu-v5/rover.px4board

@@ -19,3 +19,4 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y

boards/px4/fmu-v5x/rover.px4board

@@ -14,3 +14,5 @@ CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
+CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y

boards/px4/fmu-v6c/rover.px4board

@@ -14,3 +14,4 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y

boards/px4/fmu-v6u/rover.px4board

@@ -14,3 +14,4 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y

boards/px4/fmu-v6x/rover.px4board

@@ -14,3 +14,4 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y

boards/px4/fmu-v6xrt/rover.px4board

@@ -15,3 +15,4 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y

boards/px4/sitl/default.px4board

@@ -45,6 +45,7 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_REPLAY=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_COMMON_SIMULATION=y

msg/CMakeLists.txt

@@ -178,6 +178,7 @@ set(msg_files
 	RcParameterMap.msg
 	RegisterExtComponentReply.msg
 	RegisterExtComponentRequest.msg
+	RoverAckermannGuidanceStatus.msg
 	Rpm.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg

msg/RoverAckermannGuidanceStatus.msg

@@ -0,0 +1,10 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 actual_speed # [m/s] Rover ground speed
+float32 desired_speed # [m/s] Rover desired ground speed
+float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
+float32 heading_error # [deg] Heading error of the pure pursuit controller
+float32 pid_throttle_integral # [-1, 1] Integral of the PID for the normalized throttle to control the rover speed during missions
+float32 crosstrack_error # [m] Shortest distance from the vehicle to the path
+
+# TOPICS rover_ackermann_guidance_status

src/modules/logger/logged_topics.cpp

@@ -102,6 +102,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("position_setpoint_triplet", 200);
 	add_optional_topic("px4io_status");
 	add_topic("radio_status");
+	add_topic("rover_ackermann_guidance_status", 100);
 	add_topic("rtl_time_estimate", 1000);
 	add_topic("rtl_status", 2000);
 	add_optional_topic("sensor_airflow", 100);

src/modules/rover_ackermann/CMakeLists.txt

@@ -0,0 +1,47 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(RoverAckermannGuidance)
+
+px4_add_module(
+	MODULE modules__rover_ackermann
+	MAIN rover_ackermann
+	SRCS
+		RoverAckermann.cpp
+		RoverAckermann.hpp
+	DEPENDS
+		RoverAckermannGuidance
+		px4_work_queue
+	MODULE_CONFIG
+		module.yaml
+)

src/modules/rover_ackermann/Kconfig

@@ -0,0 +1,6 @@
+menuconfig MODULES_ROVER_ACKERMANN
+	bool "rover_ackermann"
+	default n
+	depends on MODULES_CONTROL_ALLOCATOR
+	---help---
+		Enable support for control of ackermann drive rovers

src/modules/rover_ackermann/RoverAckermann.cpp

@@ -0,0 +1,162 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "RoverAckermann.hpp"
+
+using namespace time_literals;
+using namespace matrix;
+
+RoverAckermann::RoverAckermann() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
+{
+	updateParams();
+}
+
+bool RoverAckermann::init()
+{
+	ScheduleOnInterval(10_ms); // 100 Hz
+	return true;
+}
+
+void RoverAckermann::updateParams()
+{
+	ModuleParams::updateParams();
+}
+
+void RoverAckermann::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+	}
+
+	// uORB subscriber updates
+	if (_parameter_update_sub.updated()) {
+		updateParams();
+	}
+
+	if (_vehicle_status_sub.updated()) {
+		vehicle_status_s vehicle_status;
+		_vehicle_status_sub.copy(&vehicle_status);
+		_nav_state = vehicle_status.nav_state;
+	}
+
+	// Navigation modes
+	switch (_nav_state) {
+	case vehicle_status_s::NAVIGATION_STATE_MANUAL: {
+			manual_control_setpoint_s manual_control_setpoint{};
+
+			if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
+				_motor_setpoint.steering = manual_control_setpoint.roll;
+				_motor_setpoint.throttle =  manual_control_setpoint.throttle;
+			}
+
+		} break;
+
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
+		_motor_setpoint = _ackermann_guidance.purePursuit();
+		break;
+
+	default: // Unimplemented nav states will stop the rover
+		_motor_setpoint.steering = 0.f;
+		_motor_setpoint.throttle =  0.f;
+		break;
+	}
+
+	hrt_abstime now = hrt_absolute_time();
+
+	// Publish to wheel motors
+	actuator_motors_s actuator_motors{};
+	actuator_motors.reversible_flags = _param_r_rev.get();
+	actuator_motors.control[0] = _motor_setpoint.throttle;
+	actuator_motors.timestamp = now;
+	_actuator_motors_pub.publish(actuator_motors);
+
+	// Publish to servo
+	actuator_servos_s actuator_servos{};
+	actuator_servos.control[0] = _motor_setpoint.steering;
+	actuator_servos.timestamp = now;
+	_actuator_servos_pub.publish(actuator_servos);
+}
+
+int RoverAckermann::task_spawn(int argc, char *argv[])
+{
+	RoverAckermann *instance = new RoverAckermann();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int RoverAckermann::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int RoverAckermann::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_ERR("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Rover state machine.
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("rover_ackermann", "controller");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+	return 0;
+}
+
+extern "C" __EXPORT int rover_ackermann_main(int argc, char *argv[])
+{
+	return RoverAckermann::main(argc, argv);
+}