RoboClaw: declutter, make it compile again

boards/px4/fmu-v5x/default.px4board

@@ -15,7 +15,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=n
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_GPIO_MCP23009=y

msg/CMakeLists.txt

@@ -226,8 +226,8 @@ set(msg_files
  VehicleTrajectoryBezier.msg
  VehicleTrajectoryWaypoint.msg
  VtolVehicleStatus.msg
- Wind.msg
  WheelEncoders.msg
+ Wind.msg
  YawEstimatorStatus.msg
 )
 list(SORT msg_files)

msg/WheelEncoders.msg

@@ -2,4 +2,3 @@ uint64 timestamp # time since system start (microseconds)
 
 float32[4] wheel_angle #Wheel angle of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
 float32[4] wheel_speed #Wheel speed of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
-

src/drivers/roboclaw/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015-2023 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,18 +31,11 @@
 #
 ############################################################################
 
-set(PARAM_PREFIX ROBOCLAW)
-
-if(CONFIG_BOARD_IO)
- set(PARAM_PREFIX ROBOCLAW)
-endif()
-
 px4_add_module(
  MODULE drivers__roboclaw
  MAIN roboclaw
  COMPILE_FLAGS
  SRCS
- roboclaw_main.cpp
  RoboClaw.cpp
  MODULE_CONFIG
  module.yaml

src/drivers/roboclaw/Kconfig

@@ -1,5 +1,5 @@
 menuconfig DRIVERS_ROBOCLAW
- bool "crsf_rc"
+ bool "roboclaw"
  default n
  ---help---
  Enable support for roboclaw

src/drivers/roboclaw/RoboClaw.cpp

@@ -78,9 +78,7 @@
 using namespace time_literals;
 
 RoboClaw::RoboClaw(const char *deviceName, const char *baudRateParam) :
- // ModuleParams(nullptr),
  OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
- // ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
 {
  strncpy(_storedDeviceName, deviceName, sizeof(_storedDeviceName) - 1);
  _storedDeviceName[sizeof(_storedDeviceName) - 1] = '\0'; // Ensure null-termination
@@ -251,9 +249,9 @@ void RoboClaw::Run()
 
  // check for parameter updates
  if (_parameter_update_sub.updated()) {
- // clear update
- parameter_update_s pupdate;
- _parameter_update_sub.copy(&pupdate);
+ // Read from topic to clear updated flag
+ parameter_update_s parameter_update;
+ _parameter_update_sub.copy(&parameter_update);
 
  updateParams();
  }
@@ -530,11 +528,35 @@ RoboClaw::RoboClawError RoboClaw::writeCommandWithPayload(e_command cmd, uint8_t
 
 int RoboClaw::custom_command(int argc, char *argv[])
 {
- return 0;
+ return print_usage("unknown command");
 }
 
 int RoboClaw::print_usage(const char *reason)
 {
+ if (reason) {
+ PX4_WARN("%s\n", reason);
+ }
+
+ PRINT_MODULE_DESCRIPTION(R"DESCR_STR(
+### Description
+
+This driver communicates over UART with the [Roboclaw motor driver](https://www.basicmicro.com/motor-controller).
+It performs two tasks:
+
+ - Control the motors based on the OutputModuleInterface.
+ - Read the wheel encoders and publish the raw data in the `wheel_encoders` uORB topic
+
+In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and
+your flight controller's UART port should be connected to the Roboclaw as shown in the documentation.
+The driver needs to be enabled using the parameter `RBCLW_SER_CFG`, the baudrate needs to be set correctly and
+the address `RBCLW_ADDRESS` needs to match the ESC configuration.
+
+The command to start this driver is: `$ roboclaw start <UART device> <baud rate>`
+)DESCR_STR");
+
+ PRINT_MODULE_USAGE_NAME("roboclaw", "driver");
+ PRINT_MODULE_USAGE_COMMAND("start");
+ PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
  return 0;
 }
 

src/drivers/roboclaw/RoboClaw.hpp

@@ -36,41 +36,23 @@
  *
  * RoboClaw Motor Driver
  *
- * references:
- * http://downloads.orionrobotics.com/downloads/datasheets/motor_controller_robo_claw_R0401.pdf
- *
+ * Product page: https://www.basicmicro.com/motor-controller
+ * Manual: https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf
  */
 
 #pragma once
 
-#include <poll.h>
-#include <stdio.h>
-#include <termios.h>
-#include <lib/parameters/param.h>
-#include <drivers/device/i2c.h>
+#include <lib/mixer_module/mixer_module.hpp>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <sys/select.h>
-#include <sys/time.h>
-#include <pthread.h>
-#include <unistd.h>
 
 #include <uORB/Subscription.hpp>
-
-#include <uORB/PublicationMulti.hpp>
-#include <uORB/topics/wheel_encoders.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/vehicle_status.h>
-
-#include <uORB/topics/differential_drive_control.h>
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/defines.h>
-#include <px4_platform_common/module.h>
-#include <px4_platform_common/module_params.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-
-#include <lib/mixer_module/mixer_module.hpp>
 
+#include <uORB/Publication.hpp>
+#include <uORB/topics/wheel_encoders.h>
 
 /**
  * This is a driver for the RoboClaw motor controller
@@ -216,11 +198,8 @@ class RoboClaw : public ModuleBase<RoboClaw>, public OutputModuleInterface
  struct timeval _uart_fd_timeout;
 
  uORB::SubscriptionData<actuator_armed_s> _actuator_armed_sub{ORB_ID(actuator_armed)};
- uORB::Subscription _differential_drive_control_sub{ORB_ID(differential_drive_control)};
  uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 
- differential_drive_control_s _diff_drive_control{};
-
  matrix::Vector2f _motor_control{0.0f, 0.0f};
 
  uORB::Publication<wheel_encoders_s> _wheel_encoders_pub {ORB_ID(wheel_encoders)};