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docs/en/config_rover/attitude_tuning.md
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# Attitude Tuning
Attitude tuning is required to use [Stabilized mode](../flight_modes_rover/manual.md#stabilized-mode) and all later modes.
::: warning
The [rate tuning](rate_tuning.md) must've already been completed before this step!
:::
To tune the attitude controller and unlock [Stabilized mode](../flight_modes_rover/manual.md#stabilized-mode) configure the following [parameters](../advanced_config/parameters.md) in QGroundControl:
Configure the following [parameters](../advanced_config/parameters.md) in QGroundControl:
1. [RO_YAW_P](#RO_YAW_P) [-]: Proportional gain for the closed loop yaw controller.

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docs/en/config_rover/basic_setup.md
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# Basic Setup
## Configure the rover frame and outputs:
## Configure the rover frame and outputs
1. Enable Rover support by flashing the [PX4 rover build](../config_rover/index.md#flashing-the-rover-build) onto your flight controller.
Note that this is a special build that contains rover-specific modules.
1. Enable Rover support by flashing the [PX4 rover build](../config_rover/index.md#flashing-the-rover-build) onto your flight controller.
Note that this is a special build that contains rover-specific modules.
2. In the [Airframe](../config/airframe.md) configuration select the your rover type: _Generic Rover Ackermann_/_Generic Rover Differential_/_Generic Rover Mecanum_:
2. In the [Airframe](../config/airframe.md) configuration select the your rover type: _Generic Rover Ackermann_/_Generic Rover Differential_/_Generic Rover Mecanum_:
![QGC screenshot showing selection of the airframe 'Generic ackermann rover'](../../assets/config/airframe/airframe_generic_rover_ackermann.png)
![QGC screenshot showing selection of the airframe 'Generic ackermann rover'](../../assets/config/airframe/airframe_generic_rover_ackermann.png)
Select the **Apply and Restart** button.
Select the **Apply and Restart** button.
::: info
If this airframe is not displayed and you have checked that you are using rover firmware (not the default), you can alternatively enable this frame by setting the [SYS_AUTOSTART](../advanced_config/parameter_reference.md#SYS_AUTOSTART) parameter directly to the following value:
::: info
If this airframe is not displayed and you have checked that you are using rover firmware (not the default), you can alternatively enable this frame by setting the [SYS_AUTOSTART](../advanced_config/parameter_reference.md#SYS_AUTOSTART) parameter directly to the following value:
| Rover Type | Value |
| ------------ | ------- |
| Ackermann | `51000` |
| Differential | `50000` |
| Mecanum | `52000` |
:::
| Rover Type | Value |
| ------------ | ------- |
| Ackermann | `51000` |
| Differential | `50000` |
| Mecanum | `52000` |
3. Open the [Actuators Configuration & Testing](../config/actuators.md) to map the motor/servo functions to flight controller outputs.
:::
This already covers the minimum setup required to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).
3. Open the [Actuators Configuration & Testing](../config/actuators.md) to map the motor/servo functions to flight controller outputs.
This mode is also affected by (optional) acceleration/deceleration limits.
As configuration of these limits becomes mandatory later, we do this setup here.
That is the minimum setup to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).
Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and set the following parameters:
## Geometric Parameters
## Geometric Paramters
The geometric parameters are dependant on your rover type:
Manual mode is also affected by (optional) acceleration/deceleration limits set using the geometric described below.
These limits are mandatory for all other modes.
![Geometric parameters](../../assets/config/rover/geometric_parameters.png)
Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and set the parameters in the group for your frame type.
### Ackermann
1. [RA_WHEEL_BASE](#RA_WHEEL_BASE) [m]: Measure the distance from the back to the front wheels.
1. [RA_MAX_STR_ANG](#RA_MAX_STR_ANG) [deg]: Measure the maximum steering angle.
1. (Optional) [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) [deg/s]: Maximum steering rate you want to allow for your rover.
2. [RA_MAX_STR_ANG](#RA_MAX_STR_ANG) [deg]: Measure the maximum steering angle.
3. (Optional) [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) [deg/s]: Maximum steering rate you want to allow for your rover.
:::tip
This value depends on your rover and use case.
@@ -53,9 +54,11 @@ The geometric parameters are dependant on your rover type:
:::
### Differential
1. [RD_WHEEL_TRACK](#RD_WHEEL_TRACK) [m]: Measure the distance from the centre of the right wheel to the centre of the left wheel.
### Mecanum
1. [RM_WHEEL_TRACK](#RM_WHEEL_TRACK) [m]: Measure the distance from the centre of the right wheel to the centre of the left wheel.
## Speed Parameters
@@ -67,7 +70,7 @@ The geometric parameters are dependant on your rover type:
It will be further adjusted in the [velocity tuning](velocity_tuning.md) step.
:::
1. (Optional) [RO_ACCEL_LIM](#RO_ACCEL_LIM) [m/s^2]: Maximum acceleration you want to allow for your rover.
2. (Optional) [RO_ACCEL_LIM](#RO_ACCEL_LIM) [m/s^2]: Maximum acceleration you want to allow for your rover.
<a id="RO_ACCEL_LIM_CONSIDERATIONS"></a>
@@ -89,7 +92,7 @@ The geometric parameters are dependant on your rover type:
3. Set [RO_ACCEL_LIM](#RO_ACCEL_LIM) to the highest value that does not cause the rover to lift up.
:::
1. (Optional) [RO_DECEL_LIM](#RO_DECEL_LIM) [m/s^2]: Maximum deceleration you want to allow for your rover.
3. (Optional) [RO_DECEL_LIM](#RO_DECEL_LIM) [m/s^2]: Maximum deceleration you want to allow for your rover.
:::tip
The same [considerations](#RO_ACCEL_LIM_CONSIDERATIONS) as in the configuration of [RO_ACCEL_LIM](#RO_ACCEL_LIM) apply.
@@ -123,7 +126,6 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
| ----------------------------------------------------------------------------------------------------- | ----------- | ---- |
| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | m |
### Mecanum Specific
| Parameter | Description | Unit |

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docs/en/config_rover/index.md
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# Rover Configuration/Tuning
This topic provides a step-by-step guide for setting up your rover.
Successive steps enable [drive modes](../flight_modes_rover/index.md) with more autopilot support and features:
@@ -12,8 +13,7 @@ Successive steps enable [drive modes](../flight_modes_rover/index.md) with more
| 5 | [Position Tuning](position_tuning.md) | [Auto modes](../flight_modes_rover/auto.md) |
::: warning
Each step is dependent on the previous steps having been completed.
Drive modes will only work properly if the preceding modes have been unlocked.
A drive mode will only work properly if all the configuration for the preceding modes has been completed.
:::
## Flashing the Rover Build

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docs/en/config_rover/position_tuning.md
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# Position Tuning
Position tuning is required in order to use [Auto modes](../flight_modes_rover/auto.md).
:::warning
The [velocity tuning](velocity_tuning.md) must've already been completed before this step!
:::
@@ -8,22 +10,22 @@ The position controller is responsible for autonomously guiding the vehicle to a
These position setpoints are automatically generated by the internal PX4 auto modes (Mission, Return, GoTo, ...) or can directly be sent to the rover through the `RoverPositionSetpoint.msg` (External Modes).
A path is generated for the rover to reach its destination, which tracked through a path following algorithm called [pure pursuit](#pure-pursuit-guidance-logic-info-only).
To tune the position controller and unlock [Auto modes](../flight_modes_rover/auto.md) configure the following [parameters](../advanced_config/parameters.md) in QGroundControl:
To tune the position controller configure the [parameters](../advanced_config/parameters.md) in the following sections (using QGroundControl).
## Speed
1. (Optional) [RO_SPEED_RED](#RO_SPEED_RED): Tuning parameter for the speed reduction based on the course error.
This can be used to limit the maximum allowed speed based on the difference between the current course and the bearing setpoint:
$v_{max} = v_{full throttle} \cdot (1 - \theta_{normalized} \cdot k) $
$v*{max} = v*{full throttle} \cdot (1 - \theta\_{normalized} \cdot k) $
with
- $v_{max}:$ Maximum speed
- $v_{full throttle}:$ Speed at maximum throttle [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED).
- $\theta_{normalized}:$ Course error (Course - bearing setpoint) normalized from $[0\degree, 180\degree]$ to $[0, 1]$
- $\theta_{normalized}:$ Course error (Course - bearing setpoint) normalized from $[0\degree, 180\degree]$ to $[0, 1]$
- $k:$ Tuning parameter [RO_SPEED_RED](#RO_SPEED_RED)
::: note
::: info
This parameter is used to calculate the speed at which the vehicle arrives at a waypoint based on the upcoming corner.
Set to -1 to disable course error based speed reduction.
:::
@@ -42,7 +44,6 @@ To tune the position controller and unlock [Auto modes](../flight_modes_rover/au
3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
If the tracking of these setpoints is not satisfactory adjust the values for [RO_SPEED_P](../advanced_config/parameter_reference.md#RO_SPEED_P) and [RO_SPEED_I](../advanced_config/parameter_reference.md#RO_SPEED_I).
## Path Following
The [pure pursuit](#pure-pursuit-guidance-logic-info-only) algorithm is used to calculate a bearing setpoint for the vehicle that is then close loop controlled.

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# Rate Tuning
Rate tuning is required to use [Acro mode](../flight_modes_rover/manual.md#acro-mode) and all later modes.
::: warning
The [basic setup](basic_setup.md) must've already been completed before this step!
The [Basic Setup](basic_setup.md) must've already been completed before this step!
:::
To tune the rate controller and unlock [Acro mode](../flight_modes_rover/manual.md#acro-mode) configure the following [parameters](../advanced_config/parameters.md) in QGroundControl:
Configure the following [parameters](../advanced_config/parameters.md) in QGroundControl:
1. [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM): Maximum yaw rate you want to allow for your rover.
@@ -15,21 +17,21 @@ To tune the rate controller and unlock [Acro mode](../flight_modes_rover/manual.
If this is the case:
1. In [Acro mode](../flight_modes_rover/manual.md#acro-mode), set [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) to a small value, drive the rover at full throttle and steer all the way to the left or right.
1. Increase [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) until the wheels of the rover start to lift up.
1. Set [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) to the highest value that does not cause the rover to lift up.
2. Increase [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) until the wheels of the rover start to lift up.
3. Set [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) to the highest value that does not cause the rover to lift up.
If you see no need to limit the yaw rate, set this parameter to the maximum yaw rate the rover can achieve:
1. In [Manual mode](../flight_modes_rover/manual.md#manual-mode) drive the rover at full throttle and with the maximum steering angle.
1. Plot the `measured_yaw_rate` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) and enter the highest observed value for [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM).
2. Plot the `measured_yaw_rate` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) and enter the highest observed value for [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM).
:::
1. (Optional) [RO_YAW_RATE_CORR](#RO_YAW_RATE_CORR) [-]: Yaw rate correction factor.
2. (Optional) [RO_YAW_RATE_CORR](#RO_YAW_RATE_CORR) [-]: Yaw rate correction factor.
This can be used to scale the mapping from the yaw rate setpoint to the steering effort if it is offset from the [idealized mapping](#kinematic-models) (This could be due to wheel misalignments, excessive friction etc.).
:::note
::: info
Skid/tank-steered and mecanum rovers will most likely require this adjustment.
:::
@@ -38,11 +40,11 @@ To tune the rate controller and unlock [Acro mode](../flight_modes_rover/manual.
This way the yaw rate is only controlled by the feed-forward term, which makes it easier to tune.
Now put the rover in [Acro mode](../flight_modes_rover/manual.md#acro-mode) and then move the right-stick of your controller to the right and/or left and hold it at a few different levels for a couple of seconds each while driving with a constant throttle (for differential/mecanum rovers this can also be done while standing still).
Disarm the rover and from the flight log plot the `adjusted_yaw_rate_setpoint` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) and the `measured_yaw_rate` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) over each other.
If the actual yaw rate of the rover is higher than the yaw rate setpoint, decrease [RO_YAW_RATE_CORR](#RO_YAW_RATE_CORR) (between (0, 1]).
If it is the other way around increase the parameter [1, inf) and repeat until you are satisfied with the setpoint tracking.
If the actual yaw rate of the rover is higher than the yaw rate setpoint, decrease [RO_YAW_RATE_CORR](#RO_YAW_RATE_CORR) (between [0, 1]).
If it is the other way around increase the parameter [1, inf] and repeat until you are satisfied with the setpoint tracking.
:::
1. [RO_YAW_RATE_P](#RO_YAW_RATE_P) [-]: Proportional gain of the closed loop yaw rate controller.
3. [RO_YAW_RATE_P](#RO_YAW_RATE_P) [-]: Proportional gain of the closed loop yaw rate controller.
The closed loop acceleration control will compare the yaw rate setpoint with the measured yaw rate and adapt the motor commands based on the error between them.
The proportional gain is multiplied with this error and that value is added to the motor command.
This compensates for disturbances such as uneven ground and external forces.
@@ -56,19 +58,19 @@ To tune the rate controller and unlock [Acro mode](../flight_modes_rover/manual.
1. Repeat until you are satisfied with the behaviour.
:::
1. [RO_YAW_RATE_I](#RO_YAW_RATE_I) [-]: Integral gain of the closed loop yaw rate controller.
4. [RO_YAW_RATE_I](#RO_YAW_RATE_I) [-]: Integral gain of the closed loop yaw rate controller.
The integral gain accumulates the error between the desired and actual yaw rate scaled by the integral gain over time and that value is added to the motor command.
::: tip
An integrator might not be necessary at this stage, but it will become important for subsequent modes.
:::
1. (Optional) [RO_YAW_ACCEL_LIM](#RO_YAW_ACCEL_LIM)/[RO_YAW_DECEL_LIM](#RO_YAW_DECEL_LIM) [deg/s^2]: Used to limit the yaw acceleration/deceleration.
5. (Optional) [RO_YAW_ACCEL_LIM](#RO_YAW_ACCEL_LIM)/[RO_YAW_DECEL_LIM](#RO_YAW_DECEL_LIM) [deg/s^2]: Used to limit the yaw acceleration/deceleration.
This can be used to smoothen the yaw rate setpoint trajectory.
1. (Optional) [RO_YAW_STICK_DZ](#RO_YAW_STICK_DZ) [-]: Percentage of yaw stick input range that will be interpreted as zero around the stick centered value.
6. (Optional) [RO_YAW_STICK_DZ](#RO_YAW_STICK_DZ) [-]: Percentage of yaw stick input range that will be interpreted as zero around the stick centered value.
1. (Advanced) [RO_YAW_RATE_TH](#RO_YAW_RATE_TH) [deg/s]: The minimum threshold for the yaw rate measurement not to be interpreted as zero.
7. (Advanced) [RO_YAW_RATE_TH](#RO_YAW_RATE_TH) [deg/s]: The minimum threshold for the yaw rate measurement not to be interpreted as zero.
This can be used to cut off measurement noise when the rover is standing still.
The rover is now ready to drive in [Acro mode](../flight_modes_rover/manual.md#acro-mode) and the configuration can be continued with [attitude tuning](attitude_tuning.md).
@@ -92,6 +94,7 @@ The feed forward mapping is done using the kinematic model of the rover to trans
### Kinematic Models
#### Ackermann
<!-- prettier-ignore -->
$$ \delta = \arctan(\frac{w_b \cdot \dot{\psi}}{v}) $$
@@ -121,7 +124,7 @@ with
The steering setpoint is equal to $v_{diff}$ interpolated from [-[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)] to [-1, 1].
These mappings based on the idealized kinematic models can be adjusted with the multiplicative factor [RO_YAW_RATE_CORR](../advanced_config/parameter_reference.md#RO_YAW_RATE_CORR) to tune the feed forward part of the yaw rate controller to account for wheel misalignemnts, high friction etc.
These mappings based on the idealized kinematic models can be adjusted with the multiplicative factor [RO_YAW_RATE_CORR](../advanced_config/parameter_reference.md#RO_YAW_RATE_CORR) to tune the feed forward part of the yaw rate controller to account for wheel misalignments, high friction etc.
## Parameter Overview

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The [attitude tuning](attitude_tuning.md) must've already been completed before this step!
:::
:::note
::: info
To tune we will be using the manual [Position mode](../flight_modes_rover/manual.md#position-mode).
This mode requires a global position estimate (GPS) and tuning of some parameters that go beyond the velocity controller.
If you use a custom external flight mode that controls velocity but does not require a global position estimate you can ignore the [manual position mode parameters](#manual-position-mode-parameters).
@@ -16,7 +16,7 @@ To tune the velocity controller configure the following [parameters](../advanced
1. [RO_SPEED_LIM](#RO_SPEED_LIM) [m/s]: This is the maximum speed you want to allow for your rover.
This will define the stick-to-speed mapping for [Position mode](../flight_modes_rover/manual.md#position-mode) and set an upper limit for the speed setpoint.
1. [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED) [m/s]: This parameter is used to calculate the feed-forward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands.
2. [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED) [m/s]: This parameter is used to calculate the feed-forward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands.
As mentioned in the [Manual mode](../flight_modes_rover/manual.md#manual-mode) configuration , a good starting point is the observed ground speed when the rover drives at maximum throttle in [Manual mode](../flight_modes_rover/manual.md#manual-mode).
<a id="RA_SPEED_TUNING"></a>
@@ -37,20 +37,20 @@ To tune the velocity controller configure the following [parameters](../advanced
If your rover oscillates when driving a straight line in [Position mode](../flight_modes_rover/manual.md#position-mode), set this parameter to the observed ground speed at maximum throttle in [Manual mode](../flight_modes_rover/manual.md#manual-mode) and complete the tuning of the [manual position mode parameters](#manual-position-mode-parameters) first before continuing the tuning of the closed loop speed control.
:::
2. [RO_SPEED_P](#RO_SPEED_P) [-]: Proportional gain of the closed loop speed controller.
3. [RO_SPEED_P](#RO_SPEED_P) [-]: Proportional gain of the closed loop speed controller.
::: tip
This parameter can be tuned the same way as [RO_MAX_THR_SPEED](#RA_SPEED_TUNING).
If you tuned [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED) well, you might only need a very small value.
:::
3. [RO_SPEED_I](#RO_SPEED_I) [-]: Integral gain for the closed loop speed controller.
4. [RO_SPEED_I](#RO_SPEED_I) [-]: Integral gain for the closed loop speed controller.
::: tip
For the closed loop speed control an integrator gain is useful because this setpoint is often constant for a while and an integrator eliminates steady state errors that can cause the rover to never reach the setpoint.
:::
4. (Advanced) [RO_SPEED_TH](#RO_SPEED_TH) [m/s]: The minimum threshold for the speed measurement not to be interpreted as zero.
5. (Advanced) [RO_SPEED_TH](#RO_SPEED_TH) [m/s]: The minimum threshold for the speed measurement not to be interpreted as zero.
This can be used to cut off measurement noise when the rover is standing still.
## Manual Position Mode Parameters
@@ -91,6 +91,7 @@ The rover is now ready to drive in [Position mode](../flight_modes_rover/manual.
This section provides additional information for developers and people with experience in control system design.
The velocity vector is defined by the following two values:
1. The absolute speed [$m/s$]
2. The direction (bearing) [$rad$]
@@ -105,20 +106,20 @@ For ackermann and differential rovers the bearing is aligned with the vehicle ya
For mecanum vehicles, the bearing and yaw are decoupled. The direction is controlled by splitting the velocity vector into one speed component in body x direction and one in body y direction.
Both these setpoint are then sent to their own closed loop speed controllers.
## Parmeter Overview
## Parameter Overview
| Parameter | Description | Unit |
| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------- |
| <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 | $m/s$ |
| <a id="RO_SPEED_LIM"></a>[RO_SPEED_LIM](../advanced_config/parameter_reference.md#RO_SPEED_LIM) | Maximum allowed speed | $m/s$ |
| <a id="RO_SPEED_P"></a>[RO_SPEED_P](../advanced_config/parameter_reference.md#RO_SPEED_P) | Proportional gain for speed controller | - |
| <a id="RO_SPEED_I"></a>[RO_SPEED_I](../advanced_config/parameter_reference.md#RO_SPEED_I) | Integral gain for speed controller | - |
| <a id="RO_SPEED_TH"></a>[RO_SPEED_TH](../advanced_config/parameter_reference.md#RO_SPEED_TH) | (Advanced) Speed measurement threshold | $m/s$ |
| Parameter | Description | Unit |
| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------ | ----- |
| <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 | $m/s$ |
| <a id="RO_SPEED_LIM"></a>[RO_SPEED_LIM](../advanced_config/parameter_reference.md#RO_SPEED_LIM) | Maximum allowed speed | $m/s$ |
| <a id="RO_SPEED_P"></a>[RO_SPEED_P](../advanced_config/parameter_reference.md#RO_SPEED_P) | Proportional gain for speed controller | - |
| <a id="RO_SPEED_I"></a>[RO_SPEED_I](../advanced_config/parameter_reference.md#RO_SPEED_I) | Integral gain for speed controller | - |
| <a id="RO_SPEED_TH"></a>[RO_SPEED_TH](../advanced_config/parameter_reference.md#RO_SPEED_TH) | (Advanced) Speed measurement threshold | $m/s$ |
### Pure Pursuit
| Parameter | Description | Unit |
| -------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------- | ---- |
| <a id="PP_LOOKAHD_GAIN"></a>[PP_LOOKAHD_GAIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_GAIN) | Pure pursuit: Main tuning parameter | - |
| <a id="PP_LOOKAHD_MAX"></a>[PP_LOOKAHD_MAX](../advanced_config/parameter_reference.md#PP_LOOKAHD_MAX) | Pure pursuit: Maximum value for the look ahead radius | m |
| <a id="PP_LOOKAHD_MIN"></a>[PP_LOOKAHD_MIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_MIN) | Pure pursuit: Minimum value for the look ahead radius | m |
| Parameter | Description | Unit |
| -------------------------------------------------------------------------------------------------------- | ----------------------------------------------------- | ---- |
| <a id="PP_LOOKAHD_GAIN"></a>[PP_LOOKAHD_GAIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_GAIN) | Pure pursuit: Main tuning parameter | - |
| <a id="PP_LOOKAHD_MAX"></a>[PP_LOOKAHD_MAX](../advanced_config/parameter_reference.md#PP_LOOKAHD_MAX) | Pure pursuit: Maximum value for the look ahead radius | m |
| <a id="PP_LOOKAHD_MIN"></a>[PP_LOOKAHD_MIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_MIN) | Pure pursuit: Minimum value for the look ahead radius | m |

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# Auto Modes
In auto modes the autopilot takes over control of the vehicle to run missions, return to launch, or perform other autonomous navigation tasks.
For the tuning process see the configuration for [Auto modes](../config_rover/position_tuning.md).
To use auto modes **all** the configuration/tuning steps in [Rover Configuration/Tuning](../config_rover/index.md) must be followed (from [Basic Setup](../config_rover/basic_setup.html) to [Position tuning](../config_rover/position_tuning.md)).
## Mission Mode

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@@ -15,13 +15,13 @@ Selecting any other mode than those listed below will either stop the rover or c
| Mode | Description |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [Manual](manual.md#manual-mode) | No autopilot support. User is responsible for keeping the rover on the desired course and maintaining speed and rate of turn. |
| [Acro](manual.md#acro-mode) | + Maintains the yaw rate (This makes it feel more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (Protects against roll over). |
| [Stabilized](manual.md#stabilized-mode) | + Maintans the yaw (This makes it significantly better at holding a straight line). |
| [Position](manual.md#position-mode) | + Maintains the course (Best mode for driving a straight line).<br>+ Maintains speed against disturbances, e.g. when driving up a hill.<br>+ Allows maximum speed to be limited. |
| [Acro](manual.md#acro-mode) | + Maintains the yaw rate (feels more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (protects against roll over). |
| [Stabilized](manual.md#stabilized-mode) | + Maintains the yaw (significantly better at holding a straight line). |
| [Position](manual.md#position-mode) | + Maintains the course (best mode for driving a straight line).<br>+ Maintains speed against disturbances, e.g. when driving up a hill.<br>+ Allows maximum speed to be limited. |
## Auto Modes
| Mode | Description |
| ------------------------------- | ------------------------------------------------------------------------- |
| [Mission](auto.md#mission-mode) | Automatic mode that causes the vehicle to execute a predefined autonomous |
| [Return](auto.md#return-mode) | Automatic mode that returns the vehicle to the launch position |
| Mode | Description |
| ------------------------------- | ----------------------------------------------------------------------- |
| [Mission](auto.md#mission-mode) | Automatic mode that causes the vehicle to execute a predefined mission. |
| [Return](auto.md#return-mode) | Automatic mode that returns the vehicle to the launch position. |

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docs/en/flight_modes_rover/manual.md
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@@ -6,20 +6,20 @@ Manual modes require stick inputs from the user to drive the vehicle.
The sticks provide the same "high level" control effects over direction and rate of movement in all manual modes:
| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
| ------------ | ------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| Ackermann | Drive the rover forwards/backwards (controlling speed) | - | Make a left/right turn (controlling steering angle ([Manual mode](#manual-mode)) or yaw rate ([Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode))). |
| Differential | Drive the rover forwards/backwards (controlling speed) | - | Make a left/right turn (controlling speed difference ([Manual mode](#manual-mode)) or yaw rate ([Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode))). |
| Mecanum | Drive the rover forwards/backwards (controlling speed) | Make a left/right turn (controlling speed difference ([Manual mode](#manual-mode)) or yaw rate ([Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode))). | Drive the rover left/right (controlling speed) |
| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
| ------------ | ------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Ackermann | Drive the rover forwards/backwards (controlling speed) | - | Make a left/right turn (controlling steering angle in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). |
| Differential | Drive the rover forwards/backwards (controlling speed). | - | Make a left/right turn (controlling speed difference in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). |
| Mecanum | Drive the rover forwards/backwards (controlling speed) | Make a left/right turn (controlling speed difference in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). | Drive the rover left/right (controlling speed). |
The manual modes provide progressively increasing levels of autopilot support for maintaining a course, speed, and rate of turn, compensating for external factors such as slopes or uneven terrain.
| Mode | Features |
| ------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [Manual](#manual-mode) | No autopilot support. User is responsible for keeping the rover on the desired course and maintaining speed and rate of turn. |
| [Acro](#acro-mode) | + Maintains the yaw rate (This makes it feel more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (Protects against roll over). |
| [Stabilized](#stabilized-mode) | + Maintans the yaw (This makes it significantly better at holding a straight line). |
| [Position](#position-mode) | + Maintains the course (Best mode for driving a straight line).<br>+ Maintains speed against disturbances, e.g. when driving up a hill.<br>+ Allows maximum speed to be limited. |
| Mode | Description |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [Manual](manual.md#manual-mode) | No autopilot support. User is responsible for keeping the rover on the desired course and maintaining speed and rate of turn. |
| [Acro](manual.md#acro-mode) | + Maintains the yaw rate (feels more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (protects against roll over). |
| [Stabilized](manual.md#stabilized-mode) | + Maintains the yaw (significantly better at holding a straight line). |
| [Position](manual.md#position-mode) | + Maintains the course (best mode for driving a straight line).<br>+ Maintains speed against disturbances, e.g. when driving up a hill.<br>+ Allows maximum speed to be limited. |
::: details Overview mode mapping to control effect