Differential: Seperate Velocity Control #24640

chfriedrich98 · 2025-03-31T13:14:41Z

Solved Problem

Seperated DifferentialPosVelControl into DifferentialVelControl and DifferentialPosControl to bring the module into the following structure (Continuation of #24604):

This introducesthis new rover specific setpoints:

DifferentialVelocitySetpoint: Each rover type will have its own velocity message because they differ greatly in implementation (i.e. mecanum can specify the yaw in addition to the velocity and won`t need the backwards driving flag etc.).

This PR also streamlines the flow of information between the different controllers: Each level of control will only publish the setpoint for one hierarchy level below (with the exception of the RoverThrottleSetpoint).

This is in preparation of exposing the rover setpoint (all orange uORB messages in the figure above) to DDS.

Test Coverage

Tested in SITL

Hardware tests:

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github-actions · 2025-03-31T13:21:05Z

🔎 FLASH Analysis

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Updated: 2025-04-29T12:32:59

msg/DifferentialVelocitySetpoint.msg

src/modules/rover_differential/DifferentialPosControl/DifferentialPosControl.cpp

src/modules/rover_differential/DifferentialVelControl/DifferentialVelControl.cpp

slgrobotics · 2025-07-05T23:08:17Z

Related issue #25157

chfriedrich98 added the Rover 🚙 label Mar 31, 2025

chfriedrich98 self-assigned this Mar 31, 2025

chfriedrich98 added this to PX4 Rover Mar 31, 2025

chfriedrich98 moved this to 🏗 In Progress in PX4 Rover Mar 31, 2025

chfriedrich98 force-pushed the pr-differential_velocity_control branch from cc42320 to b266381 Compare March 31, 2025 13:27

chfriedrich98 force-pushed the pr-differential_velocity_control branch from b266381 to 1cdfb07 Compare April 8, 2025 11:54

chfriedrich98 marked this pull request as ready for review April 8, 2025 12:25

chfriedrich98 requested a review from sfuhrer April 8, 2025 12:26

chfriedrich98 moved this from 🏗 In Progress to 👀 In Review in PX4 Rover Apr 8, 2025

chfriedrich98 force-pushed the pr-differential_velocity_control branch from 1cdfb07 to cd9a2c9 Compare April 21, 2025 06:35

chfriedrich98 added 3 commits April 29, 2025 08:20

differential: seperate velocity control

3e93757

differential: streamline flow of information

6213edd

differential: update airframe tuning

417e1b5

chfriedrich98 force-pushed the pr-differential_velocity_control branch from cd9a2c9 to 417e1b5 Compare April 29, 2025 06:20

sfuhrer reviewed Apr 29, 2025

View reviewed changes

chfriedrich98 requested a review from sfuhrer April 29, 2025 11:20

sfuhrer previously approved these changes Apr 29, 2025

View reviewed changes

chfriedrich98 dismissed sfuhrer’s stale review via 6047636 April 29, 2025 12:01

chfriedrich98 force-pushed the pr-differential_velocity_control branch from 292d89e to 6047636 Compare April 29, 2025 12:01

chfriedrich98 requested a review from sfuhrer April 29, 2025 12:03

differential: migrate state machine to velocity control

707d06f

chfriedrich98 force-pushed the pr-differential_velocity_control branch from 6047636 to 707d06f Compare April 29, 2025 12:27

sfuhrer approved these changes Apr 29, 2025

View reviewed changes

chfriedrich98 merged commit 39fa8b5 into main Apr 29, 2025
65 of 67 checks passed

github-project-automation bot moved this from 👀 In Review to ✅ Done in PX4 Rover Apr 29, 2025

chfriedrich98 deleted the pr-differential_velocity_control branch April 29, 2025 12:49

This was referenced Jul 7, 2025

[Bug] Rover Differential velocity control fails to stop smoothly in sharp turns #25157

Open

Differential: separating planning and execution responsibilities #25170

Open

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Differential: Seperate Velocity Control #24640

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Differential: Seperate Velocity Control #24640

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chfriedrich98 commented Mar 31, 2025

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