Fixedwing Add support for offboard velocity setpoints #18495
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Jaeyoung-Lim
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| @@ -757,6 +757,10 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c | |||
| control_auto_position(now, curr_pos, ground_speed, pos_sp_prev, pos_sp_curr); | |||
| break; | |||
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| case position_setpoint_s::SETPOINT_TYPE_VELOCITY: | |||
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SETPOINT_TYPE_VELOCITY will be purged "soon". #18026
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@dagar What would be the alternative to pass velocity setpoints? Should we move away from using position setpoint types all together? (Seems fw pos control is the only place this is being used)
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I'm only talking about the position_setpoint_triplet coming from navigator. Everything else using the trajectory_setpoint is still valid.
| @@ -896,6 +900,10 @@ FixedwingPositionControl::control_auto_descend(const hrt_abstime &now) | |||
| uint8_t | |||
| FixedwingPositionControl::handle_setpoint_type(const uint8_t setpoint_type, const position_setpoint_s &pos_sp_curr) | |||
| { | |||
| if (!_control_mode.flag_control_position_enabled && _control_mode.flag_control_velocity_enabled) { | |||
| return position_setpoint_s::SETPOINT_TYPE_VELOCITY; | |||
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@dagar We are not using SETPOINT_TYPE_VELOCITY from the navigator, but we still need SETPOINT_TYPE_VELOCITY in the fw position controller
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If it's easy we can keep it for now, but we'll have to do something about it later.
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@dagar I think this needs to be changed all together on moving away from position setpoint as a state machine for the position controller behavior
This commit adds a velocity controller which the setpoint can be passed using offboard setpoints
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@sfuhrer Rebased and addressed review comments! |
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@sfuhrer Thanks! |
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Which topic can control velocity, I used mavros/setpoint_raw/global send velocity message ,but it did not work. |
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@lichishubao Please do not hijack the topic of this PR. You can post a new issue or a question to the public forum |
This is not my intention,I just want to know which offboard setpoints do you sent by ROS, I might have used the wrong topic |
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@lichishubao Feel free to ask questions on the public forum, or on the px4 discord. If you think it is relevant, you can also open a new issue |
Describe problem solved by this pull request
Previously vehicles only supported position setpoints which were tracked using a L1 controller.
While this is sufficient to do waypoint navigation, it is hard do more advanced maneuvers using only a L1 position setpoint.
Describe your solution
This PR adds support for offboard velocity setpoints for fixedwing type vehicles. The velocity can be commanded in the local frame and the vehicle will try to follow the velocity setpoints in 3D.
vx,vywill be passed as the target groundspeed.vzwill be mapped to TECS height rate setpointsBeing able to command velocity setpoints in the local frame allows fixedwing vehicles to be used in more robotics oriented tasks such as trajectory tracking, formation flying etc
Test data / coverage
Tested in SITL Gazebo with offboard setpoints sent by ROS
Additional context