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New Crowdin translations - zh-CN (#25483)
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@@ -27,10 +27,18 @@
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That is the minimum setup to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).
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:::info
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The rest of the tuning on this page is not mandatory for [Manual mode](../flight_modes_rover/manual.md#manual-mode), but it will have an effect on the behaviour of the rover.
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:::
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:::warning
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Do not skip the rest of this setup if you intend to use more sophisticated modes!
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All parameters will be mandatory for all subsequent modes, except those tagged as `(Optional)`.
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:::
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## Geometric Parameters
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Manual mode is also affected by (optional) acceleration/deceleration limits set using the geometric described below.
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These limits are mandatory for all other modes.
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First, we set up the geometric parameters of the rover:
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@@ -42,7 +50,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
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2. [RA_MAX_STR_ANG](#RA_MAX_STR_ANG) [deg]: Measure the maximum steering angle.
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3. (Optional) [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) [deg/s]: Maximum steering rate you want to allow for your rover.
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:::tip
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::: tip
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This value depends on your rover and use case.
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For bigger rovers there might be a mechanical limit that is easy to identify by steering the rover at a standstill and increasing
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[RA_STR_RATE_LIM](#RA_STR_RATE_LIM) until you observe the steering rate to no longer be limited by the parameter.
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@@ -51,7 +59,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
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:::
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:::warning
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::: warning
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A low maximum steering rate makes the rover worse at tracking steering setpoints, which can lead to a poor performance in the subsequent modes.
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:::
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@@ -109,6 +117,39 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
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:::
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## (Optional) Stick Input Mapping
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Input shaping can be used to adjust the default linear mapping from stick inputs $\in [-1, 1]$ to normalized setpoints $\in [-1, 1]$. Applying this specifically to the steering input, can provide a smoother driving experience, by enabling the user to make small adjustments when the stick is close to the center, but still send large inputs when moving them to the edges.
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We provide this input shaping through the super exponential function:
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$$
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\delta = \frac{(f \cdot x^3 + x(1-f)) \cdot (1-g)}{1-g \cdot |x|}
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$$
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with:
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- $\delta \in [-1, 1]=$ Normalized steering setpoint.
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- $x \in [-1, 1]=$ Normalized stick input.
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- $f=$ [RO_YAW_EXPO](#RO_YAW_EXPO): `0` Purely linear input curve, `1` Purely cubic input curve.
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- $g=$ [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO): `0` Pure Expo function, `0.7` reasonable shape enhancement for intuitive stick feel, `0.95` very strong bent input curve only near maxima have effect.
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In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionally scale $\delta$ with an additional parameter $r$:
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- Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
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- Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
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This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
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You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
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:::info
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In [Acro](../flight_modes_rover/manual.md#acro-mode), [Stabilized](../flight_modes_rover/manual.md#stabilized-mode) and [Position](../flight_modes_rover/manual.md#position-mode) Mode, $\delta$ is instead scaled by $r=$ [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) for all rovers. This leads to a yaw rate setpoint $\dot{\psi} = \delta \cdot r \in$ [-[RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)]. This parameter is setup during [rate tuning](rate_tuning.md).
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:::
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:::info
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The input shaping through [RO_YAW_EXPO](#RO_YAW_EXPO) and [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO) applies for all manual modes, while [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)/[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN) only affects full manual mode.
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:::
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You can now continue the configuration process with [rate tuning](rate_tuning.md).
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## Parameter Overview
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@@ -118,6 +159,8 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
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| <a id="RO_MAX_THR_SPEED"></a>[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle | $m/s$ |
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| <a id="RO_ACCEL_LIM"></a>[RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM) | (Optional) Maximum allowed acceleration | $m/s^2$ |
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| <a id="RO_DECEL_LIM"></a>[RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM) | (Optional) Maximum allowed deceleration | $m/s^2$ |
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| <a id="RO_YAW_EXPO"></a>[RO_YAW_EXPO](../advanced_config/parameter_reference.md#RO_YAW_EXPO) | (Optional) Yaw rate expo factor | $-$ |
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| <a id="RO_YAW_SUPEXPO"></a>[RO_YAW_SUPEXPO](../advanced_config/parameter_reference.md#RO_YAW_SUPEXPO) | (Optional) Yaw rate super expo factor | $-$ |
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### Ackermann Specific
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@@ -129,12 +172,14 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
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### Differential Specific
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| 参数 | 描述 | Unit |
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| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
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| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | m |
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| 参数 | 描述 | Unit |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
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| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | $m$ |
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| <a id="RD_YAW_STK_GAIN"></a>[RD_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RD_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$ |
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### Mecanum Specific
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| 参数 | 描述 | Unit |
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| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
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| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | m |
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| 参数 | 描述 | Unit |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
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| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | $m$ |
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| <a id="RM_YAW_STK_GAIN"></a>[RM_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RM_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$ |
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@@ -25,18 +25,18 @@ Rovers use a custom build that must be flashed onto your flight controller inste
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To build for rover with the `make` command, replace the `_default` suffix with `_rover`.
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For example, to build rover for px4_fmu-v6x boards, you would use the command:
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```sh
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make px4_fmu-v6x_rover
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```
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```sh
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make px4_fmu-v6x_rover
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```
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::: info
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You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
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```sh
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CONFIG_MODULES_ROVER_ACKERMANN=y
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CONFIG_MODULES_ROVER_DIFFERENTIAL=y
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CONFIG_MODULES_ROVER_MECANUM=y
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```
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```sh
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CONFIG_MODULES_ROVER_ACKERMANN=y
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CONFIG_MODULES_ROVER_DIFFERENTIAL=y
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CONFIG_MODULES_ROVER_MECANUM=y
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```
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Note that adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
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@@ -94,7 +94,7 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi
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The rover is now ready to drive in [Position mode](../flight_modes_rover/manual.md#position-mode) and the configuration can be continued with [position tuning](position_tuning.md).
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## Attitude Controller Structure (Info Only)
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## Velocity Controller Structure (Info Only)
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This section provides additional information for developers and people with experience in control system design.
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