Ackermann: Update control structure #24784

chfriedrich98 · 2025-04-30T09:48:46Z

Solved Problem

This PR updates the ackermann module to the following control structure:

This is done to prepare the rover modules (and the RoverSpecificSetpoints) for access through API and is achieved through the following steps:

Seperate Actuator Control: This streamlines the Input/Output flow of the rover specific uORB messages.
Update Position Control: So far, in auto and manual position mode, position control directly published RoverVelocitySetpoints.
Position control now always turns a RoverPositionSetpoint into a RoverVelocitySetpoint which further streamlines the Input/Output flow of the rover specific uORB messages.
To achieve this, the RoverPositionSetpoint is extended with some optional fields.
Centralize mode management, resets and checks: All arming, control mode and nav state checks are now done in RoverAckermann. Based on the control mode, it will generate RoverSetpoints and udpate the necessary controllers . Further, sanity checks are now only performed on parameter or control mode changes.
Cleanup and NAN value handling: Align function/parameter names, comments and remove unused variables. Protect the controllers from NAN values in RoverSetpoints.

Alternative

All functions that generate roverSetpoints (manual modes, offboard, auto, ...) could also be moved to RoverAckermann.
This way the controllers would only handle their setpoint and publish the setpoint that is one level lower in the hierarchy.

Tests

Tested in SITL
Hardware tests:

github-actions · 2025-04-30T09:55:10Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: -208 byte (-0.01 %)]

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+0.3%    +208  [ = ]       0    [Unmapped]
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px4_fmu-v6x [Total VM Diff: -232 byte (-0.01 %)]

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Updated: 2025-05-12T13:12:48

chfriedrich98 · 2025-05-13T13:35:39Z

Deprecated by #24836

chfriedrich98 added the Rover 🚙 label Apr 30, 2025

chfriedrich98 self-assigned this Apr 30, 2025

chfriedrich98 added this to PX4 Rover Apr 30, 2025

chfriedrich98 force-pushed the pr-ackermann_task_manager branch from 46529d5 to 7c831f9 Compare April 30, 2025 09:53

chfriedrich98 force-pushed the pr-ackermann_task_manager branch 3 times, most recently from 86a8e71 to b1465a3 Compare May 6, 2025 11:54

chfriedrich98 added 2 commits May 12, 2025 08:49

rover: clean up speed terminology

494f68c

rover: clean up velocity setpoint

2258869

chfriedrich98 force-pushed the pr-ackermann_task_manager branch 2 times, most recently from bc7c3f8 to bce5b56 Compare May 12, 2025 09:41

rover: handle invalid bearing setpoint

8609d80

chfriedrich98 force-pushed the pr-ackermann_task_manager branch 2 times, most recently from d44786d to e7b8c3e Compare May 12, 2025 12:53

chfriedrich98 added 4 commits May 12, 2025 14:54

ackermann: separate actuator control

65405f0

ackermann: update position control

dcc876a

ackermann: centralize mode management, resets and checks

28fe776

ackermann: cleanup and NAN value handling

c4e0a40

chfriedrich98 force-pushed the pr-ackermann_task_manager branch from e7b8c3e to c4e0a40 Compare May 12, 2025 13:06

chfriedrich98 moved this to 🏗 In Progress in PX4 Rover May 12, 2025

chfriedrich98 closed this May 13, 2025

github-project-automation bot moved this from 🏗 In Progress to ✅ Done in PX4 Rover May 13, 2025

chfriedrich98 deleted the pr-ackermann_task_manager branch June 16, 2025 10:11

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