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mc_pos_control: immediately switch out of goto setpoint when receiving trajectory_setpoint #24917

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Merged
merged 1 commit into from
Jul 16, 2025
Merged

mc_pos_control: immediately switch out of goto setpoint when receiving trajectory_setpoint #24917

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29 changes: 17 additions & 12 deletions src/modules/mc_pos_control/GotoControl/GotoControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,9 +45,16 @@ using namespace time_literals;

bool GotoControl::checkForSetpoint(const hrt_abstime &now, const bool enabled)
{
_goto_setpoint_sub.update();
const bool timestamp_initialized = _goto_setpoint_sub.get().timestamp != 0;
const bool no_timeout = now < (_goto_setpoint_sub.get().timestamp + 500_ms);
_goto_setpoint_sub.update(&_goto_setpoint);

if (!enabled) {
// Flag the setpoint as invalid if disabled, so if it is enabled in near future,
// we don't use an old setpoint
_goto_setpoint.timestamp = 0;
}

const bool timestamp_initialized = _goto_setpoint.timestamp != 0;
const bool no_timeout = now < (_goto_setpoint.timestamp + 500_ms);
const bool need_to_run = timestamp_initialized && no_timeout && enabled;

if (!need_to_run) {
Expand All @@ -65,9 +72,7 @@ void GotoControl::update(const float dt, const matrix::Vector3f &position, const
_is_initialized = true;
}

const goto_setpoint_s &goto_setpoint = _goto_setpoint_sub.get();

const Vector3f position_setpoint(_goto_setpoint_sub.get().position);
const Vector3f position_setpoint(_goto_setpoint.position);

if (!position_setpoint.isAllFinite()) {
// TODO: error messaging
Expand All @@ -85,7 +90,7 @@ void GotoControl::update(const float dt, const matrix::Vector3f &position, const
resetPositionSmoother(position);
}

setPositionSmootherLimits(goto_setpoint);
setPositionSmootherLimits(_goto_setpoint);

const Vector3f feedforward_velocity{};
const bool force_zero_velocity_setpoint = false;
Expand All @@ -99,13 +104,13 @@ void GotoControl::update(const float dt, const matrix::Vector3f &position, const
out_setpoints.acceleration.copyTo(trajectory_setpoint.acceleration);
out_setpoints.jerk.copyTo(trajectory_setpoint.jerk);

if (goto_setpoint.flag_control_heading && PX4_ISFINITE(goto_setpoint.heading) && PX4_ISFINITE(heading)) {
if (_goto_setpoint.flag_control_heading && PX4_ISFINITE(_goto_setpoint.heading) && PX4_ISFINITE(heading)) {
if (!_controlling_heading || _need_smoother_reset) {
resetHeadingSmoother(heading);
}

setHeadingSmootherLimits(goto_setpoint);
_heading_smoothing.update(goto_setpoint.heading, dt);
setHeadingSmootherLimits(_goto_setpoint);
_heading_smoothing.update(_goto_setpoint.heading, dt);

trajectory_setpoint.yaw = _heading_smoothing.getSmoothedHeading();
trajectory_setpoint.yawspeed = _heading_smoothing.getSmoothedHeadingRate();
Expand All @@ -121,11 +126,11 @@ void GotoControl::update(const float dt, const matrix::Vector3f &position, const

_need_smoother_reset = false;

trajectory_setpoint.timestamp = goto_setpoint.timestamp;
trajectory_setpoint.timestamp = hrt_absolute_time();
_trajectory_setpoint_pub.publish(trajectory_setpoint);

vehicle_constraints_s vehicle_constraints{
.timestamp = goto_setpoint.timestamp,
.timestamp = trajectory_setpoint.timestamp,
.speed_up = NAN,
.speed_down = NAN,
.want_takeoff = false
Expand Down
3 changes: 2 additions & 1 deletion src/modules/mc_pos_control/GotoControl/GotoControl.hpp
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Expand Up @@ -115,10 +115,11 @@ class GotoControl
*/
void setHeadingSmootherLimits(const goto_setpoint_s &goto_setpoint);

uORB::SubscriptionData<goto_setpoint_s> _goto_setpoint_sub{ORB_ID(goto_setpoint)};
uORB::Subscription _goto_setpoint_sub{ORB_ID(goto_setpoint)};
uORB::Publication<trajectory_setpoint_s> _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)};
uORB::Publication<vehicle_constraints_s> _vehicle_constraints_pub{ORB_ID(vehicle_constraints)};

goto_setpoint_s _goto_setpoint{};
PositionSmoothing _position_smoothing;
HeadingSmoothing _heading_smoothing;

Expand Down
9 changes: 6 additions & 3 deletions src/modules/mc_pos_control/MulticopterPositionControl.cpp
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Expand Up @@ -426,9 +426,12 @@ void MulticopterPositionControl::Run()

PositionControlStates states{set_vehicle_states(vehicle_local_position, dt)};

// if a goto setpoint available this publishes a trajectory setpoint to go there
if (_goto_control.checkForSetpoint(vehicle_local_position.timestamp_sample,
_vehicle_control_mode.flag_multicopter_position_control_enabled)) {
// If a goto setpoint is available this publishes a trajectory setpoint to go there
// If trajectory_setpoint is published elsewhere, do not use the goto setpoint
const bool goto_setpoint_enable = _vehicle_control_mode.flag_multicopter_position_control_enabled
&& !_trajectory_setpoint_sub.updated();

if (_goto_control.checkForSetpoint(vehicle_local_position.timestamp_sample, goto_setpoint_enable)) {
_goto_control.update(dt, states.position, states.yaw);
}

Expand Down
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