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rover interface: allow configurable maximum mission speed #501

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Oct 3, 2023
Merged

rover interface: allow configurable maximum mission speed #501

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4 changes: 3 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/50005_ssrc_scout_mini_rover
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,10 @@

. ${R}etc/init.d/rc.rover_defaults

# Rover interface
param set-default RI_ROVER_TYPE 0
param set-default RI_MAN_THR_MAX 3.0
param set-default RI_MAN_THR_MAX 1.0
param set-default RI_MIS_THR_MAX 1.0

# Battery setting
param set-default BAT1_N_CELLS 7
Expand Down
2 changes: 2 additions & 0 deletions ROMFS/px4fmu_common/init.d/airframes/50006_ssrc_bunker_rover
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Expand Up @@ -13,8 +13,10 @@

. ${R}etc/init.d/rc.rover_defaults

# Rover interface
param set-default RI_ROVER_TYPE 5
param set-default RI_MAN_THR_MAX 1.5
param set-default RI_MIS_THR_MAX 1.0

# Battery setting
param set-default BAT1_N_CELLS 14
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20 changes: 14 additions & 6 deletions src/drivers/rover_interface/RoverInterface.cpp
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Expand Up @@ -6,12 +6,14 @@ RoverInterface *RoverInterface::_instance;
// CAN interface | default is can0
const char *const RoverInterface::CAN_IFACE = "can0";

RoverInterface::RoverInterface(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max)
RoverInterface::RoverInterface(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max,
float mission_throttle_max)
: ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rover_interface),
_rover_type(rover_type),
_bitrate(bitrate),
_manual_throttle_max(manual_throttle_max)
_manual_throttle_max(manual_throttle_max),
_mission_throttle_max(mission_throttle_max)
{
pthread_mutex_init(&_node_mutex, nullptr);
}
Expand Down Expand Up @@ -43,14 +45,14 @@ RoverInterface::~RoverInterface()
}


int RoverInterface::start(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max)
int RoverInterface::start(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max, float mission_throttle_max)
{
if (_instance != nullptr) {
PX4_ERR("Already started");
return -1;
}

_instance = new RoverInterface(rover_type, bitrate, manual_throttle_max);
_instance = new RoverInterface(rover_type, bitrate, manual_throttle_max, mission_throttle_max);

if (_instance == nullptr) {
PX4_ERR("Failed to allocate RoverInterface object");
Expand Down Expand Up @@ -223,7 +225,7 @@ void RoverInterface::ActuatorControlsUpdate()
actuator_controls_s actuator_controls_msg;

if (_actuator_controls_sub.copy(&actuator_controls_msg)) {
auto throttle = (_is_manual_mode ? _manual_throttle_max : 1.0f) *
auto throttle = (_is_manual_mode ? _manual_throttle_max : _mission_throttle_max) *
actuator_controls_msg.control[actuator_controls_s::INDEX_THROTTLE];
auto steering = actuator_controls_msg.control[actuator_controls_s::INDEX_YAW];
_scout->SetMotionCommand(throttle, steering);
Expand Down Expand Up @@ -384,12 +386,18 @@ extern "C" __EXPORT int rover_interface_main(int argc, char *argv[])
float manual_throttle_max = 1.0;
param_get(param_find("RI_MAN_THR_MAX"), &manual_throttle_max);

// Mission control mode max throttle (1m/s to 3m/s)
float mission_throttle_max = 1.0;
param_get(param_find("RI_MIS_THR_MAX"), &mission_throttle_max);

// Start
PX4_INFO("Start Rover Interface to rover type %d at CAN iface %s with bitrate %d bit/s",
rover_type, RoverInterface::CAN_IFACE, can_bitrate);
return RoverInterface::start(static_cast<uint8_t>(rover_type),
can_bitrate,
manual_throttle_max);
manual_throttle_max,
mission_throttle_max
);
}

/* commands below assume that the app has been already started */
Expand Down
6 changes: 4 additions & 2 deletions src/drivers/rover_interface/RoverInterface.hpp
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Expand Up @@ -38,10 +38,10 @@ class RoverInterface : public ModuleParams, public px4::ScheduledWorkItem
public:
static const char *const CAN_IFACE;

RoverInterface(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max);
RoverInterface(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max, float mission_throttle_max);
~RoverInterface() override;

static int start(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max);
static int start(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max, float mission_throttle_max);

void print_status();

Expand Down Expand Up @@ -80,6 +80,8 @@ class RoverInterface : public ModuleParams, public px4::ScheduledWorkItem

float _manual_throttle_max;

float _mission_throttle_max;

scoutsdk::ProtocolVersion _protocol_version{scoutsdk::ProtocolVersion::AGX_V2};

const char *_can_iface{nullptr};
Expand Down
12 changes: 12 additions & 0 deletions src/drivers/rover_interface/rover_interface_params.c
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Expand Up @@ -68,3 +68,15 @@ PARAM_DEFINE_INT32(RI_CAN_BITRATE, 500000);
* @group Rover Interface
*/
PARAM_DEFINE_FLOAT(RI_MAN_THR_MAX, 1.0);


/**
* Rover interface mission control throttle max.
*
* @unit m/s
* @min 1.0
* @max 3.0
* @reboot_required true
* @group Rover Interface
*/
PARAM_DEFINE_FLOAT(RI_MIS_THR_MAX, 1.0);