Support offboard velocity setpoints for rover #13225
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Jaeyoung-Lim
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Awesome! Did you test that using MAVROS or MAVSDK? |
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@julianoes I tested it using mavros. I had a discussion with @ItsTimmy and realized that the velocity control and frames were not being handled correctly. I will try to follow up on this. |
julianoes
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Oct 18, 2019
Jaeyoung-Lim
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Good to go? |
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@dagar On my side yes. Not sure why the hardware test is failing though. |
julianoes
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Oct 24, 2019
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Looks like unrelated CI issues. |
This was referenced Oct 25, 2019
This was referenced Nov 2, 2019
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Describe problem solved by this pull request
Previously only position setpoints were available for offboard control of a rover. This has been problematic as the L1 position controller which rover uses require global position fixes, as raised in the rover call(17/10/19).
This PR adds support for offboard velocity setpoints for rover and potentially enables controlling the vehicle without GPS position fixes.
Describe your solution
The rover tracks the velocity supported by
SET_TARGET_POSITION_LOCAL_NED. The speed of the setpoint is constrained to the cruise throttle.Describe possible alternatives
The velocity tracking is a very simple one, where it tries to track the direction of the setpoint and the speed of the setpoint. Therefore the vehicle never goes reverse to take a shorter route to track the setpoint, in case the direction of the setpoint is more off than 90 degrees.
A more elegant solution can be discussed.
Test data / coverage
Logs from examples velocity inputs tested in SITL