mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-27 18:27:05 +08:00
Differential Rover: PR fixes
This commit is contained in:
Matthias Grob
committed by
Per Frivik
Per Frivik
parent
056e41af8c
commit
3de5c609a4
@@ -3,7 +3,7 @@
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# @name Rover
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#
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. ${R}etc/init.d/rc.rover_ackermann_defaults
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. ${R}etc/init.d/rc.rover_defaults
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param set-default GND_L1_DIST 5
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param set-default GND_L1_PERIOD 10
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@@ -6,29 +6,7 @@
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. ${R}etc/init.d/rc.rover_differential_defaults
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param set-default GND_L1_DIST 5
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param set-default GND_SP_CTRL_MODE 1
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param set-default GND_SPEED_D 3
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param set-default GND_SPEED_I 0.001
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param set-default GND_SPEED_IMAX 0.125
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param set-default GND_SPEED_P 0.25
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param set-default GND_SPEED_THR_SC 1
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param set-default GND_SPEED_TRIM 4
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param set-default GND_THR_CRUISE 0.3
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param set-default GND_THR_MAX 0.5
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param set-default GND_THR_MIN 0
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param set-default NAV_ACC_RAD 0.5
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param set-default NAV_LOITER_RAD 2
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param set-default GND_MAX_ANG 0.6
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param set-default GND_WHEEL_BASE 2.0
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param set-default CA_AIRFRAME 6
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param set-default CA_R_REV 3
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 101
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param set-default PWM_MAIN_FUNC6 102
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param set-default PWM_MAIN_FUNC7 102
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@@ -1,5 +1,4 @@
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#!/bin/sh
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#
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# @name Aion Robotics R1 Rover
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# @type Rover
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# @class Rover
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@@ -10,39 +9,23 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
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param set-default SIM_GZ_EN 1
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param set-default SIM_GZ_EN 1 # Gazebo bridge
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# Simulated sensors
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param set-default SENS_EN_GPSSIM 1
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param set-default SENS_EN_BAROSIM 0
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param set-default SENS_EN_MAGSIM 1
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param set-default SENS_EN_ARSPDSIM 1
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param set-default COM_PREARM_MODE 2
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# Actuator mapping
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param set-default SIM_GZ_WH_FUNC1 101 # right wheel
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param set-default SIM_GZ_WH_MIN1 0
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param set-default SIM_GZ_WH_MAX1 200
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param set-default SIM_GZ_WH_DIS1 100
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param set-default NAV_ACC_RAD 0.5
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param set-default NAV_LOITER_RAD 2
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param set-default SIM_GZ_WH_FUNC2 102 # left wheel
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param set-default SIM_GZ_WH_MIN2 0
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param set-default SIM_GZ_WH_MAX2 200
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param set-default SIM_GZ_WH_DIS2 100
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param set-default GND_MAX_ANG 0.6
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param set-default GND_WHEEL_BASE 2.0
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param set-default CA_R_REV 3
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param set-default SIM_GZ_EC_FUNC1 101
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param set-default SIM_GZ_EC_MIN1 0
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param set-default SIM_GZ_EC_MAX1 200
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param set-default SIM_GZ_EC_DIS1 100
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param set-default SIM_GZ_EC_FUNC2 102
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param set-default SIM_GZ_EC_MIN2 0
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param set-default SIM_GZ_EC_MAX2 200
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param set-default SIM_GZ_EC_DIS2 100
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param set-default SIM_GZ_MT_FUNC1 101
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param set-default SIM_GZ_MT_MIN1 0
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param set-default SIM_GZ_MT_MAX1 200
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param set-default SIM_GZ_MT_DIS1 100
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param set-default SIM_GZ_MT_FUNC2 102
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param set-default SIM_GZ_MT_MIN2 0
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param set-default SIM_GZ_MT_MAX2 200
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param set-default SIM_GZ_MT_DIS2 100
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param set-default SIM_GZ_WH_REV 1 # reverse right wheel
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@@ -53,8 +53,6 @@ px4_add_romfs_files(
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rc.rover_defaults
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rc.rover_differential_apps
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rc.rover_differential_defaults
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rc.rover_ackermann_apps
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rc.rover_ackermann_defaults
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rc.uuv_apps
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rc.uuv_defaults
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rc.vehicle_setup
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@@ -13,7 +13,7 @@
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.rover_ackermann_defaults
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. ${R}etc/init.d/rc.rover_defaults
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param set-default BAT1_N_CELLS 2
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@@ -13,50 +13,13 @@
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. ${R}etc/init.d/rc.rover_differential_defaults
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param set-default BAT1_N_CELLS 4
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param set-default EKF2_GBIAS_INIT 0.01
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param set-default EKF2_ANGERR_INIT 0.01
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param set-default EKF2_MAG_TYPE 1
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param set-default FW_AIRSPD_MIN 0
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param set-default FW_AIRSPD_TRIM 1
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param set-default FW_AIRSPD_MAX 3
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param set-default GND_SP_CTRL_MODE 1
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param set-default GND_L1_DIST 5
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param set-default GND_L1_PERIOD 3
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param set-default GND_THR_CRUISE 0.7
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param set-default GND_THR_MAX 0.5
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# Because this is differential drive, it can make a turn with radius 0.
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# This corresponds to a turn angle of pi radians.
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# If a special case is made for differential-drive, this will need to change.
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param set-default GND_MAX_ANG 3.142
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param set-default GND_WHEEL_BASE 0.3
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# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
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# to support negative throttle.
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param set-default GND_THR_MIN 0
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param set-default GND_SPEED_P 0.25
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param set-default GND_SPEED_I 3
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param set-default GND_SPEED_D 0.001
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param set-default GND_SPEED_IMAX 0.125
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param set-default GND_SPEED_THR_SC 1
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param set-default NAV_ACC_RAD 0.5
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# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
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param set-default GND_MAX_ANG 3.1415
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# Set geometry & output configration
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param set-default CA_AIRFRAME 6
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param set-default CA_R_REV 3
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param set-default RBCLW_ADDRESS 128
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param set-default RBCLW_FUNC1 101
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param set-default RBCLW_FUNC2 102
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param set-default RBCLW_REV 1
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param set-default RBCLW_REV 1 # reverse right wheels
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@@ -1,28 +0,0 @@
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#!/bin/sh
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#
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# Standard apps for unmanned ground vehicles (UGV).
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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#
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# Start the attitude and position estimator.
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#
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ekf2 start &
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#attitude_estimator_q start
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#local_position_estimator start
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#
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# Start Control Allocator
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#
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control_allocator start
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#
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# Start attitude controllers.
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#
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rover_pos_control start
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#
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# Start Land Detector.
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#
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land_detector start rover
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@@ -1,22 +0,0 @@
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#!/bin/sh
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#
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# UGV default parameters.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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set VEHICLE_TYPE rover_ackermann
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# MAV_TYPE_GROUND_ROVER 10
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param set-default MAV_TYPE 10
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# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
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param set-default CBRK_AIRSPD_CHK 162128
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param set-default MIS_TAKEOFF_ALT 0.01
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param set-default NAV_ACC_RAD 2
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param set-default NAV_LOITER_RAD 2
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# Temporary.
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param set-default NAV_FW_ALT_RAD 1000
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@@ -9,8 +9,6 @@
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# Start the attitude and position estimator.
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#
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ekf2 start &
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#attitude_estimator_q start
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#local_position_estimator start
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#
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# Start Control Allocator
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@@ -1,24 +1,11 @@
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#!/bin/sh
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#
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# Standard apps for unmanned ground vehicles (UGV).
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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# Standard apps for a differential drive rover.
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#
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# Start the attitude and position estimator.
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#
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ekf2 start &
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#attitude_estimator_q start
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#local_position_estimator start
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#
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# Start manual rover differential drive controller.
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#
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# Start rover differential drive controller.
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differential_drive_control start
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#
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# Start Land Detector.
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#
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land_detector start rover
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@@ -1,11 +1,11 @@
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#!/bin/sh
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#
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# UGV default parameters.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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# Differential rover parameters.
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set VEHICLE_TYPE rover_differential
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# MAV_TYPE_GROUND_ROVER 10
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param set-default MAV_TYPE 10
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param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
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param set-default CA_AIRFRAME 6 # Rover (Differential)
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param set-default CA_R_REV 3 # Right and left motors reversible
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param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
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@@ -23,24 +23,6 @@ then
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. ${R}etc/init.d/rc.mc_apps
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fi
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#
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# Differential Rover setup.
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#
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if [ $VEHICLE_TYPE = rover_differential ]
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then
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# Start standard UGV apps.
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. ${R}etc/init.d/rc.rover_differential_apps
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fi
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#
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# Ackermann Rover setup.
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#
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if [ $VEHICLE_TYPE = rover_ackermann ]
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then
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# Start standard UGV apps.
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. ${R}etc/init.d/rc.rover_ackermann_apps
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fi
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#
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# UGV setup.
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#
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@@ -50,6 +32,15 @@ then
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. ${R}etc/init.d/rc.rover_apps
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fi
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#
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# Differential Rover setup.
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#
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if [ $VEHICLE_TYPE = rover_differential ]
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then
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# Start differential drive rover apps.
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. ${R}etc/init.d/rc.rover_differential_apps
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fi
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#
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# VTOL setup.
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#
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