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docs/ko/SUMMARY.md
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- [Helicopter (experimental)](frames_helicopter/index.md)
- [Helicopter Config/Tuning](config_heli/index.md)
- [Rovers (experimental)](frames_rover/index.md)
- [Ackermann Rovers](frames_rover/ackermann.md)
- [Drive Modes](flight_modes_rover/ackermann.md)
- [Configuration/Tuning](config_rover/ackermann.md)
- [Differential Rovers](frames_rover/differential.md)
- [Drive Modes](flight_modes_rover/differential.md)
- [Configuration/Tuning](config_rover/differential.md)
- [Aion Robotics R1](frames_rover/aion_r1.md)
- [Mecanum Rovers](frames_rover/mecanum.md)
- [Drive Modes](flight_modes_rover/mecanum.md)
- [Configuration/Tuning](config_rover/mecanum.md)
- [Drive Modes](flight_modes_rover/index.md)
- [Manual](flight_modes_rover/manual.md)
- [Auto](flight_modes_rover/auto.md)
- [Configuration/Tuning](config_rover/index.md)
- [Basic Setup](config_rover/basic_setup.md)
- [Rate Tuning](config_rover/rate_tuning.md)
- [Attitude Tuning](config_rover/attitude_tuning.md)
- [Velocity Tuning](config_rover/velocity_tuning.md)
- [Position Tuning](config_rover/position_tuning.md)
- [Complete Vehicles](complete_vehicles_rover/index.md)
- [Aion Robotics R1](complete_vehicles_rover/aion_r1.md)
- [(Deprecated) Rover Position Control](frames_rover/rover_position_control.md)
- [Submarines (experimental)](frames_sub/index.md)
- [블루로브2](frames_sub/bluerov2.md)

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::: info
- Most boards will need to use the [Debug Probe](#debug-probe-bootloader-update) to update the bootloader.
- You can use [QGC Bootloader Update](#qgc-bootloader-update-sys-bl-update) with firmware that includes the [`bl-update` module](../modules/modules_command.md#bl-update).
This is the easiest way to update the bootloader, provided the board is able to load firmware.
- You can also use the [Debug Probe](#debug-probe-bootloader-update) to update the bootloader.
This is useful for updating/fixing the bootloader when the board is bricked.
- On [FMUv6X-RT](../flight_controller/pixhawk6x-rt.md) you can [install bootloader/unbrick boards via USB](bootloader_update_v6xrt.md).
This is useful if you don't have a debug probe.
- On FMUv2 and some custom firmware (only) you can use [QGC Bootloader Update](#qgc-bootloader-update).
:::
## QGC Bootloader Update (`SYS_BL_UPDATE`)
The easiest way to update the bootloader is to first use _QGroundControl_ to install firmware that contains the desired/latest bootloader.
You can then initiate bootloader update on next restart by setting the parameter: [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
This approach can be used if the [`bl-update` module](../modules/modules_command.md#bl-update) is present in the firmware.
The easiest way to check this is just to see if the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter is [found in QGroundControl](../advanced_config/parameters.md#finding-a-parameter).
:::warning
Boards that include the module will have the line `CONFIG_SYSTEMCMDS_BL_UPDATE=y` in their `default.px4board` file (for examples [see this search](https://github.com/search?q=repo%3APX4%2FPX4-Autopilot+path%3A**%2Fdefault.px4board+CONFIG_SYSTEMCMDS_BL_UPDATE%3Dy&type=code)).
You can enable this key in your own custom firmware if needed.
:::
단계는 다음과 같습니다:
1. SD카드를 삽입합니다 (발생 가능한 문제들의 디버깅을 위한 부트 로그 기록을 가능하게 합니다.)
2. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.
::: info
The updated bootloader might be included the default firmware for your board or supplied in custom firmware.
:::
3. 기체가 재부팅될 때까지 기다리십시오.
4. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
5. 재부팅하십시오 (보드의 연결을 끊고 다시 연결하십시오.).
부트로더 업데이트는 수초내에 완료됩니다.
Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.
An specific example of this process for updating the [FMUv2 bootloader](#fmuv2-bootloader-update) is given below.
## Building the PX4 Bootloader
### PX4 Bootloader FMUv6X and later
@@ -130,42 +167,10 @@ The following steps explain how you can "manually" update the bootloader using a
After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.md) using _QGroundControl_.
## QGC Bootloader Update
The easiest approach is to first use _QGroundControl_ to install firmware that contains the desired/latest bootloader.
You can then initiate bootloader update on next restart by setting the parameter: [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
This approach can only be used if [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) is present in firmware.
:::warning
Currently only FMUv2 and some custom firmware includes the desired bootloader.
:::
단계는 다음과 같습니다:
1. SD카드를 삽입합니다 (발생 가능한 문제들의 디버깅을 위한 부트 로그 기록을 가능하게 합니다.)
2. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.
::: info
The updated bootloader might be supplied in custom firmware (i.e. from the dev team), or it or may be included in the latest main branch.
:::
3. 기체가 재부팅될 때까지 기다리십시오.
4. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
5. 재부팅하십시오 (보드의 연결을 끊고 다시 연결하십시오.).
부트로더 업데이트는 수초내에 완료됩니다.
Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.
An specific example of this process for updating the FMUv2 bootloader is given below.
### FMUv2 Bootloader Update
## FMUv2 Bootloader Update
If _QGroundControl_ installs the FMUv2 target (see console during installation), and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller.
This example explains how you can use [QGC Bootloader Update](qgc-bootloader-update-sys-bl-update) to update the bootloader.
:::info
Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) flight controllers had a [hardware issue](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) that restricted them to using 1MB of flash memory.

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유용한 참고사항들입니다.
- [An Introduction to Shock & Vibration Response Spectra, Tom Irvine](http://www.vibrationdata.com/tutorials2/srs_intr.pdf) (free paper)
- Structural Dynamics and Vibration in Practice - An Engineering Handbook, Douglas Thorby (preview).
- [Structural Dynamics and Vibration in Practice - An Engineering Handbook, Douglas Thorby](https://books.google.ch/books?id=PwzDuWDc8AgC&printsec=frontcover) (preview).

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# Aion Robotics R1 UGV
<Badge type="tip" text="PX4 v1.15" />
The [Aion R1](https://www.aionrobotics.com/) vehicle was chosen to test and improve the differential drive support for PX4, and to improve driver support for Roboclaw Motor Controllers, such as the [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html).
The documentation and driver information here should also make it easier to work with Roboclaw controllers on other vehicles, and to work with vehicles like the [Aion R6](https://www.aionrobotics.com/r6).
Currently, PX4 supports MANUAL mode for this setup.
![Aion Robotics R1 UGV](../../assets/airframes/rover/aion_r1/r1_rover_no_bg.png)
## 부품 목록
- [Aion R1 (Discontinued)](https://www.aionrobotics.com/)
- [Documentation](https://github-docs.readthedocs.io/en/latest/r1-ugv.html)
- [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html)
- [R1 Roboclaw specifications](https://resources.basicmicro.com/aion-robotics-r1-autonomous-robot/)
- [Auterion Skynode](../companion_computer/auterion_skynode.md)
## 조립
The assembly consists of a 3D-printed frame on which all the autopilot parts were attached.
For this build this includes an [Auterion Skynode](../companion_computer/auterion_skynode.md), connected to a Pixhawk Adapter Board that interfaces with the RoboClaw motor controllers over serial.
![R1 Assembly](../../assets/airframes/rover/aion_r1/r1_assembly.png)
:::info
If using a standard Pixhawk you could connect the RoboClaw to the Autopilot without an Adapter Board.
:::
The RoboClaw should be connected to a suitable suitable serial (UART) port on the flight controller, such as `GPS2` or `TELEM1`.
Other RoboClaw wiring is detailed in the [RoboClaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf) 'Packet Serial Wiring' section and shown below (this setup has been validated for compatibility).
![Serial Wiring Encoders](../../assets/airframes/rover/aion_r1/wiring_r1.jpg)
## PX4 설정
### Rover Configuration
Use _QGroundControl_ for rover configuration:
1. In the [Basic Configuration](../config/index.md) section, select the [Airframe](../config/airframe.md) tab.
2. Choose **Aion Robotics R1 UGV** under the **Rover** category.
![Select Airframe](../../assets/airframes/rover/aion_r1/r1_airframe.png)
### RoboClaw Configuration
First configure the serial connection:
1. Navigate to the [Parameters](../advanced_config/parameters.md) section in QGroundControl.
- Set the [RBCLW_SER_CFG](../advanced_config/parameter_reference.md#RBCLW_SER_CFG) parameter to the serial port to which the RoboClaw is connected (such as `GPS2`).
- [RBCLW_COUNTS_REV](../advanced_config/parameter_reference.md#RBCLW_COUNTS_REV) specifies the number of encoder counts required for one wheel revolution.
This value should be left at `1200` for the tested `RoboClaw 2x15A Motor Controller`.
Adjust the value based on your specific encoder and wheel setup.
- RoboClaw motor controllers must be assigned a unique address on the bus.
The default address is 128 and you should not need to change this (if you do, update the PX4 parameter [RBCLW_ADDRESS](../advanced_config/parameter_reference.md#RBCLW_ADDRESS) to match).
::: info
PX4 does not support multiple RoboClaw motor controllers in the same vehicle — each controller needs a unique address on the bus, and there is only one parameter for setting the address in PX4 (`RBCLW_ADDRESS`).
:::
Then configure the actuator configuration:
1. Navigate to [Actuators Configuration & Testing](../config/actuators.md) in QGroundControl.
2. Select the RoboClaw driver from the list of _Actuator Outputs_.
For the channel assignments, disarm, minimum, and maximum values, please refer to the image below.
![RoboClaw QGC](../../assets/airframes/rover/aion_r1/roboclaw_actuator_config_qgc.png)
For systems with more than two motors, it is possible to assign the same function to several motors.
The reason for the unusual values, can be found in the [RoboClaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf) under `Compatibility Commands` for `Packet Serial`:
```plain
Drive motor forward. Valid data range is 0 - 127. A value of 127 = full speed forward, 64 =
about half speed forward and 0 = full stop.
```
## See also
- [roboclaw](../modules/modules_driver.md#roboclaw) driver
- [Roboclaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf)

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# Complete Vehicles (Rover)
This section contains information about fully assembled vehicles that use PX4:
1. [Aion Robotics R1 UGV (Differential Rover)](../complete_vehicles_rover/aion_r1.md)

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_Collision Prevention_ may be used to automatically slow and stop a vehicle before it can crash into an obstacle.
It can be enabled for multicopter vehicles when using acceleration-based [Position mode](../flight_modes_mc/position.md) (or VTOL vehicles in MC mode).
It can be enabled for multicopter vehicles in [Position mode](../flight_modes_mc/position.md), and can use sensor data from an offboard companion computer, offboard rangefinders over MAVLink, a rangefinder attached to the flight controller, or any combination of the above.
It can be enabled for multicopter vehicles in [Position mode](../flight_modes_mc/position.md) (with [MPC_POS_MODE](#MPC_POS_MODE) set to `Acceleration based`), and can use sensor data from an offboard companion computer, offboard rangefinders over MAVLink, a rangefinder attached to the flight controller, or any combination of the above.
Collision prevention may restrict vehicle maximum speed if the sensor range isn't large enough!
It also prevents motion in directions where no sensor data is available (i.e. if you have no rear-sensor data, you will not be able to fly backwards).
@@ -26,9 +26,9 @@ Users are notified through _QGroundControl_ while _Collision Prevention_ is acti
PX4 software setup is covered in the next section.
If you are using a distance sensor attached to your flight controller for collision prevention, it will need to be attached and configured as described in [PX4 Distance Sensor](#rangefinder).
If you are using a companion computer to provide obstacle information see [companion setup](#companion
If you are using a companion computer to provide obstacle information see [companion setup](#companion) below.
## Supported Rangefinders {#rangefinder}
## Supported Rangefinders {#rangefinder}
### Lanbao PSK-CM8JL65-CC5 [Discontinued]
@@ -60,7 +60,7 @@ Configure collision prevention by [setting the following parameters](../advanced
| <a id="CP_DELAY"></a>[CP_DELAY](../advanced_config/parameter_reference.md#CP_DELAY) | Set the sensor and velocity setpoint tracking delay. See [Delay Tuning](#delay_tuning) below. |
| <a id="CP_GUIDE_ANG"></a>[CP_GUIDE_ANG](../advanced_config/parameter_reference.md#CP_GUIDE_ANG) | Set the angle (to both sides of the commanded direction) within which the vehicle may deviate if it finds fewer obstacles in that direction. See [Guidance Tuning](#angle_change_tuning) below. |
| <a id="CP_GO_NO_DATA"></a>[CP_GO_NO_DATA](../advanced_config/parameter_reference.md#CP_GO_NO_DATA) | Set to 1 to allow the vehicle to move in directions where there is no sensor coverage (default is 0/`False`). |
| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) | Set to `Direct velocity` or `Smoothed velocity` to enable Collision Prevention in Position Mode (default is `Acceleration based`). |
| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) | Must be set to `Acceleration based`. |
## 알고리즘 설명
@@ -210,7 +210,7 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti
type: px4_msgs::msg::ObstacleDistance
```
For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)_.
For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)\_.
3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
In the **Script Editor** tab, add following scripts in the appropriate sections:

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- [Flight Modes (Multicopter)](../flight_modes_mc/index.md)
- [Flight Modes (Fixed-Wing)](../flight_modes_fw/index.md)
- [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
- [Drive Modes (Rover)](../flight_modes_rover/index.md)
- [Basic Configuration > Flight Modes](../config/flight_mode.md)
## Internal vs External Modes

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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!
:::
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.
::: tip
In stabilized mode the closed loop yaw control is only active when driving a straight line (no yaw rate input).
To tune it start with a value of 1 for [RO_YAW_P](#RO_YAW_P).
Put the rover into stabilized mode and move the left stick of your controller up to drive forwards.
Disarm the rover and from the flight log plot the `measured_yaw` and the `adjusted_yaw_setpoint` from the [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) message over each other.
Increase/Decrease the parameter until you are satisfied with the setpoint tracking.
If you observe a steady state error in the yaw setpoint increase the the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
:::
The rover is now ready to drive in [Stabilized mode](../flight_modes_rover/manual.md#stabilized-mode) and the configuration can be continued with [velocity tuning](velocity_tuning.md).
## Attitude Controller Structure (Info Only)
This section provides additional information for developers and people with experience in control system design.
The attitude controller uses the following structure:
![Rover Attitude Controller](../../assets/config/rover/rover_attitude_controller.png)
The rate and attitude controllers are cascaded, therefor we only require one integrator in the structure to eliminate steady state errors.
We placed the integrator in the rate controller since it can run without the attitude controller but not the other way around.
## Parameter Overview
| 매개변수 | 설명 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------- | ------------------------------------ | ---- |
| <a id="RO_YAW_P"></a>[RO_YAW_P](../advanced_config/parameter_reference.md#RO_YAW_P) | Proportional gain for yaw controller | - |

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# Basic Setup
## 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.
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)
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:
| 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.
That is the minimum setup to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).
## Geometric Parameters
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.
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.
For bigger rovers there might be a mechanical limit that is easy to identify by steering the rover at a standstill and increasing
[RA_STR_RATE_LIM](#RA_STR_RATE_LIM) until you observe the steering rate to no longer be limited by the parameter.
For smaller rovers you might observe the steering to be too aggressive. Set [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) to a low value and steer the rover at a standstill.
Increase the parameter until you reach the maximum steering rate you are comfortable with.
:::
:::warning
A low maximum steering rate makes the rover worse at tracking steering setpoints, which can lead to a poor performance in the subsequent modes.
:::
### 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
1. [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED) [m/s]: Drive the rover at full throttle and set this parameter to the observed value of the ground speed.
:::info
This parameter is also used for the feed-forward term of the closed loop speed control.
It will be further adjusted in the [velocity tuning](velocity_tuning.md) step.
:::
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>
:::tip
Your rover has a maximum possible acceleration which is determined by the maximum torque the motor can supply.
This may or may not be appropriate for your vehicle and use case.
One approach to determine an appropriate value is:
1. From a standstill, give the rover full throttle until it reaches the maximum speed.
2. Disarm the rover and plot the `measured_speed_body_x` from [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md).
3. Divide the maximum speed by the time it took to reach it and set this as the value for [RO_ACCEL_LIM](#RO_ACCEL_LIM).
Some RC rovers have enough torque to lift up if the maximum acceleration is not limited.
If that is the case:
1. Set [RO_ACCEL_LIM](#RO_ACCEL_LIM) to a low value, give the rover full throttle from a standstill and observe its behaviour.
2. Increase [RO_ACCEL_LIM](#RO_ACCEL_LIM) until the rover starts to lift up during the acceleration.
3. Set [RO_ACCEL_LIM](#RO_ACCEL_LIM) to the highest value that does not cause the rover to lift up.
:::
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.
:::
:::info
This parameter is also used for the calculation of the speed setpoint in modes that are [position controlled](position_tuning.md).
:::
You can now continue the configuration process with [rate tuning](rate_tuning.md).
## Parameter Overview
| 매개변수 | 설명 | 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_ACCEL_LIM"></a>[RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM) | (Optional) Maximum allowed acceleration | $m/s^2$ |
| <a id="RO_DECEL_LIM"></a>[RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM) | (Optional) Maximum allowed deceleration | $m/s^2$ |
### Ackermann Specific
| 매개변수 | 설명 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------- | ----- |
| <a id="RA_WHEEL_BASE"></a>[RA_WHEEL_BASE](../advanced_config/parameter_reference.md#RA_WHEEL_BASE) | Wheel base | $m$ |
| <a id="RA_MAX_STR_ANG"></a>[RA_MAX_STR_ANG](../advanced_config/parameter_reference.md#RA_MAX_STR_ANG) | Maximum steering angle | $deg$ |
| <a id="RA_STR_RATE_LIM"></a>[RA_STR_RATE_LIM](../advanced_config/parameter_reference.md#RA_STR_RATE_LIM) | (Optional) Maximum allowed steering rate | deg/s |
### Differential Specific
| 매개변수 | 설명 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | m |
### Mecanum Specific
| 매개변수 | 설명 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | m |

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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:
| Step | 설정 | Unlocked PX4 Drive Mode |
| ---- | ------------------------------------- | ------------------------------------------------------------------------- |
| 1 | [Basic Setup](basic_setup.md) | [Full manual mode](../flight_modes_rover/manual.md#manual-mode) |
| 2 | [Rate Tuning](rate_tuning.md) | [Manual acro mode](../flight_modes_rover/manual.md#acro-mode) |
| 3 | [Attitude Tuning](attitude_tuning.md) | [Manual stabilized mode](../flight_modes_rover/manual.md#stabilized-mode) |
| 4 | [Velocity Tuning](velocity_tuning.md) | [Manual position mode](../flight_modes_rover/manual.md#manual-mode) |
| 5 | [Position Tuning](position_tuning.md) | [Auto modes](../flight_modes_rover/auto.md) |
:::warning
A drive mode will only work properly if all the configuration for the preceding modes has been completed.
:::
## Flashing the Rover Build
Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build:
1. First build the rover firmware for your flight controller from the `main` branch (there is no release build, so you can't just select this build from QGroundControl).
To build for rover with the `make` command, replace the `_default` suffix with `_rover`.
For example, to build rover for px4_fmu-v6x boards, you would use the command:
```sh
make px4_fmu-v6x_rover
```
::: info
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)):
```sh
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
CONFIG_MODULES_ROVER_MECANUM=y
```
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).
:::
2. Load the **custom firmware** that you just built onto your flight controller (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).

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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!
:::
The position controller is responsible for autonomously guiding the vehicle to a position setpoint.
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 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) $
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 $[0, 1]$
- $k:$ Tuning parameter [RO_SPEED_RED](#RO_SPEED_RED)
::: 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.
:::
2. (Optional) [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM) [m/s^2] and [RO_JERK_LIM](../advanced_config/parameter_reference.md#RO_JERK_LIM) [m/s^3] are used to calculate a speed trajectory such that the rover reaches the next waypoint with the calculated cornering speed.
::: tip
Plan a mission for the rover to drive a square and observe how it slows down when approaching a waypoint:
- If the rover decelerates too quickly decrease the [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM) parameter, if it starts slowing down too early increase the parameter.
- If you observe a jerking motion as the rover slows down, decrease the [RO_JERK_LIM](../advanced_config/parameter_reference.md#RO_JERK_LIM) parameter otherwise increase it as much as possible as it can interfere with the tuning of [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM).
These two parameters have to be tuned as a pair, repeat until you are satisfied with the behaviour.
:::
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.
The following parameters are used to tune the algorithm:
1. [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN): When driving in a straight line (right stick centered) position mode leverages the same path following algorithm used in [auto modes](../flight_modes_rover/auto.md) called [pure pursuit](#pure-pursuit-guidance-logic-info-only) to achieve the best possible straight line driving behaviour.
This parameter determines how aggressive the controller will steer towards the path.
::: tip
Decreasing the parameter makes it more aggressive but can lead to oscillations.
To tune this:
1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.
4. Repeat until you are satisfied with the behaviour.
:::
2. [PP_LOOKAHD_MIN](#PP_LOOKAHD_MIN): Minimum threshold for the lookahead distance used by the [pure pursuit algorithm](#pure-pursuit-guidance-logic-info-only).
::: tip
Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and drive at very low speeds, if the rover starts to oscillate even though the tuning of [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN) was good for medium speeds, then increase the value of [PP_LOOKAHD_MIN](#PP_LOOKAHD_MIN).
:::
3. [PP_LOOKAHD_MAX](#PP_LOOKAHD_MAX): Maximum threshold for the lookahead distance used by [pure pursuit](#pure-pursuit-guidance-logic-info-only).
::: tip
Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and drive at very high speeds, if the rover does not drive in a straight line even though the tuning of [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN) was good for medium speeds, then decrease the value of [PP_LOOKAHD_MAX](#PP_LOOKAHD_MAX).
:::
During any auto navigation task observe the behaviour of the rover and if you are unsatisfied with the path following, there are 2 steps to take:
1. Check if all the setpoints ([rate](rate_tuning.md), [attitude](attitude_tuning.md) and [velocity](velocity_tuning.md)) are properly tracked.
2. Further tune the [path following algorithm](#path-following).
## Ackermann Rover Only
Ackermann rovers employ a special cornering logic causing the rover to "cut corners" to achieve a smooth trajectory.
This is done by scaling the acceptance radius based on the corner the rover has to drive (for geometric explanation see [Cornering logic](#corner-cutting-logic-info-only)).
![Cornering Comparison](../../assets/config/rover/ackermann_cornering_comparison.png)
The degree to which corner cutting is allowed can be tuned, or disabled, with the following parameters:
:::info
The corner cutting effect is a tradeoff between how close you get to the waypoint and the smoothness of the trajectory.
:::
1. [NAV_ACC_RAD](../advanced_config/parameter_reference.md#NAV_ACC_RAD) [m]: Default acceptance radius
This is also used as a lower bound for the acceptance radius scaling.
2. [RA_ACC_RAD_MAX](#RA_ACC_RAD_MAX) [m]: The maximum the acceptance radius can be scaled to.
Set equal to [NAV_ACC_RAD](../advanced_config/parameter_reference.md#NAV_ACC_RAD) to disable the corner cutting effect.
3. [RA_ACC_RAD_GAIN](#RA_ACC_RAD_GAIN) [-]: This tuning parameter is a multiplicand on the [calculated ideal acceptance radius](#corner-cutting-logic-info-only) to account for dynamic effects.
:::tip
Initially set this parameter to `1`.
If you observe the rover overshooting the corner, increase this parameter until you are satisfied with the behaviour.
Note that the scaling of the acceptance radius is limited by [RA_ACC_RAD_MAX](#RA_ACC_RAD_MAX).
:::
### Corner Cutting Logic (Info only)
To enable a smooth trajectory, the acceptance radius of waypoints is scaled based on the angle between a line segment from the current-to-previous and current-to-next waypoints.
The ideal trajectory would be to arrive at the next line segment with the heading pointing towards the next waypoint.
For this purpose the minimum turning circle of the rover is inscribed tangentially to both line segments.
![Cornering Logic](../../assets/config/rover/ackermann_cornering_logic.png)
The acceptance radius of the waypoint is set to the distance from the waypoint to the tangential points between the circle and the line segments:
$$
\begin{align*}
r_{min} &= \frac{L}{\sin\left( \delta_{max}\right) } \\
\theta &= \frac{1}{2}\arccos\left( \frac{\vec{a}*\vec{b}}{|\vec{a}||\vec{b}|}\right) \\
r_{acc} &= \frac{r_{min}}{\tan\left( \theta\right) }
\end{align*}
$$
| Symbol | 설명 | Unit |
| ----------------------------------- | ---------------------------------- | ---- |
| $\vec{a}$ | Vector from current to previous WP | m |
| $\vec{b}$ | Vector from current to next WP | m |
| $r_{min}$ | Minimum turn radius | m |
| $\delta_{max}$ | Maximum steer angle | m |
| $r_{acc}$ | Acceptance radius | m |
## Differential Rover Only
Differential rovers employ the following state machine to make full use of a differential rovers ability to turn on the spot:
![Differential state machine](../../assets/config/rover/differential_state_machine.png)
These transition thresholds can be set with [RD_TRANS_DRV_TRN](#RD_TRANS_DRV_TRN) and [RD_TRANS_TRN_DRV](#RD_TRANS_TRN_DRV).
In mission modes [RD_TRANS_DRV_TRN](#RD_TRANS_DRV_TRN) is also used to slow down the rover to a standstill, if the transition angle between the waypoints exceeds this threshold:
![Differential slow down effect](../../assets/config/rover/differential_slow_down_effect.png)
## Pure Pursuit Guidance Logic (Info Only)
The desired bearing setpoints are generated using the pure pursuit algorithm.
The controller takes the intersection point between a circle around the vehicle and a line segment.
When targeting a position setpoint this line is constructed from the current position to the destination or when executing a mission it is usually constructed by connecting the previous and current waypoint.
![Pure Pursuit Algorithm](../../assets/config/rover/pure_pursuit_algorithm.png)
The radius of the circle around the vehicle is used to tune the controller and is often referred to as look-ahead distance.
The look-ahead distance sets how aggressive the controller behaves and is defined as $l_d = v \cdot k$.
It depends on the velocity $v$ of the rover and a tuning parameter $k$ that can be set with the parameter [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN).
:::info
A lower value of [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN) makes the controller more aggressive but can lead to oscillations!
:::
The lookahead is constrained between [PP_LOOKAHD_MAX](#PP_LOOKAHD_MAX) and [PP_LOOKAHD_MIN](#PP_LOOKAHD_MIN).
If the distance from the path to the rover is bigger than the lookahead distance, the rover will target the point on the path that is closest to the rover.
## Position Controller Structure (Info Only)
This section provides additional information for developers and people with experience in control system design.
The position controller uses the following structure:
![Rover Position Controller](../../assets/config/rover/rover_position_controller.png)
## Parameter Overview
| 매개변수 | 설명 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------ | ---- |
| <a id="RO_SPEED_RED"></a>[RO_SPEED_RED](../advanced_config/parameter_reference.md#RO_SPEED_RED) | (Optional) Tuning parameter for the speed reduction based on the course error | - |
| <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 |
## Ackermann Specific
| 매개변수 | 설명 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------- | ---- |
| <a id="RA_ACC_RAD_MAX"></a>[RA_ACC_RAD_MAX](../advanced_config/parameter_reference.md#RA_ACC_RAD_MAX) | (Optional) Maximum radius the acceptance radius can be scaled to | m |
| <a id="RA_ACC_RAD_GAIN"></a>[RA_ACC_RAD_GAIN](../advanced_config/parameter_reference.md#RA_ACC_RAD_GAIN) | (Optional) Tuning parameter for the acceptance radius scaling | - |
## Differential Specific
| 매개변수 | 설명 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------- | ---- |
| <a id="RD_TRANS_DRV_TRN"></a>[RD_TRANS_DRV_TRN](../advanced_config/parameter_reference.md#RD_TRANS_DRV_TRN) | Heading error threshold to switch from driving to spot turning | deg |
| <a id="RD_TRANS_TRN_DRV"></a>[RD_TRANS_TRN_DRV](../advanced_config/parameter_reference.md#RD_TRANS_TRN_DRV) | Heading error threshold to switch from spot turning to driving | deg |

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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!
:::
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.
:::tip
Limiting the yaw rate is necessary if the rover is prone rolling over, loosing traction at high speeds or if passenger comfort is important.
Small rovers especially can be prone to rolling over when steering aggressively at high speeds.
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.
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.
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).
:::
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.).
::: info
Skid/tank-steered and mecanum rovers will most likely require this adjustment.
:::
:::tip
To tune this parameter, first make sure you set [RO_YAW_RATE_P](#RO_YAW_RATE_P) and [RO_YAW_RATE_I](#RO_YAW_RATE_I) to zero.
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.
:::
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.
:::tip
To tune this parameter:
1. Put the rover in [Acro mode](../flight_modes_rover/manual.md#acro-mode) and hold the throttle stick and the right stick at a few different levels for a couple of seconds each.
2. Disarm the rover and from the flight log plot the `adjusted_yaw_rate_setpoint` and the `measured_yaw_rate` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) over each other.
3. Increase [RO_YAW_RATE_P](#RO_YAW_RATE_P) if the measured value does not track the setpoint fast enough or decrease it if the measurement overshoots the setpoint by too much.
4. Repeat until you are satisfied with the behaviour.
:::
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.
:::
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.
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.
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).
## Rate Controller Structure (Info Only)
This section provides additional information for developers and people with experience in control system design.
The rate controller uses the following structure:
![Rover Rate Controller](../../assets/config/rover/rover_rate_controller.png)
:::info
For ackermann rovers the yaw rate is only close loop controlled when driving forwards.
When driving backwards the yaw rate setpoint is directly mapped to a steering angle using the equation above.
This is due to the fact that rear wheel steering (driving a car with front-wheel steering backwards) is non-minimum-phase w.r.t to the yaw rate which leads to instabilities when doing closed loop control.
:::
The feed forward mapping is done using the kinematic model of the rover to translate the yaw rate setpoint to a normalized steering setpoint.
### Kinematic Models
#### Ackermann
<!-- prettier-ignore -->
$$\delta = \arctan(\frac{w_b \cdot \dot{\psi}}{v})$$
with
- $w_b:$ Wheel base,
- $\delta:$ Steering angle,
- $\dot{\psi}:$ Yaw rate
- $v:$ Forward speed.
The steering setpoint is equal to $\delta$ interpolated from [-[RA_MAX_STR_ANG](../advanced_config/parameter_reference.md#RA_MAX_STR_ANG), [RA_MAX_STR_ANG](../advanced_config/parameter_reference.md#RA_MAX_STR_ANG)] to [-1, 1].
For driving this means that the same right hand stick input will cause a different steering angle based on how fast you are driving.
By limiting the maximum yaw rate, we can restrict the steering angle based on the speed, which can prevent the rover from rolling over.
This mode will feel more like "driving a car" than [Manual mode](../flight_modes_rover/manual.md#manual-mode).
#### Differential/Mecanum
<!-- prettier-ignore -->
$$v_{diff} = \frac{w_t \cdot \dot{\psi}}{2}$$
with
- $v_{diff}:$ Speed difference between the right/left wheels,
- $w_t:$ Wheel track ([RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK)),
- $\dot{\psi}:$ Yaw rate setpoint
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 misalignments, high friction etc.
## Parameter Overview
| 매개변수 | 설명 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | --------- |
| <a id="RO_YAW_RATE_LIM"></a>[RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_YAW_RATE_LIM) | Maximum allowed yaw rate | $m/s^2$ |
| <a id="RO_YAW_RATE_P"></a>[RO_YAW_RATE_P](../advanced_config/parameter_reference.md#RO_YAW_RATE_P) | Proportional gain for yaw rate controller | - |
| <a id="RO_YAW_RATE_I"></a>[RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) | Integral gain for yaw rate controller | - |
| <a id="RO_YAW_STICK_DZ"></a>[RO_YAW_STICK_DZ](../advanced_config/parameter_reference.md#RO_YAW_STICK_DZ) | Yaw stick deadzone | - |
| <a id="RO_YAW_ACCEL_LIM"></a>[RO_YAW_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_YAW_ACCEL_LIM) | (Optional) Yaw acceleration limit | $deg/s^2$ |
| <a id="RO_YAW_DECEL_LIM"></a>[RO_YAW_DECEL_LIM](../advanced_config/parameter_reference.md#RO_YAW_DECEL_LIM) | (Optional) Yaw deceleration limit | $deg/s^2$ |
| <a id="RO_YAW_RATE_CORR"></a>[RO_YAW_RATE_CORR](../advanced_config/parameter_reference.md#RO_YAW_RATE_CORR) | (Optional) Yaw rate correction factor | - |
| <a id="RO_YAW_RATE_TH"></a>[RO_YAW_RATE_TH](../advanced_config/parameter_reference.md#RO_YAW_RATE_TH) | (Advanced) Yaw rate measurement threshold | $deg/s$ |

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# Velocity Tuning
:::warning
The [attitude tuning](attitude_tuning.md) must've already been completed before this step!
:::
:::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).
:::
## Speed Parameters
To tune the velocity controller configure the following [parameters](../advanced_config/parameters.md) in QGroundControl:
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.
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>
::: tip
To further tune this parameter:
1. Set [RO_SPEED_P](#RO_SPEED_P) and [RO_SPEED_I](#RO_SPEED_I) to zero.
This way the speed is only controlled by the feed-forward term, which makes it easier to tune.
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and then move the left stick of your controller up and/or down and hold it at a few different levels for a couple of seconds each.
3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
4. If the actual speed of the rover is higher than the speed setpoint, increase [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED).
If it is the other way around decrease the parameter and repeat until you are satisfied with the setpoint tracking.
:::
::: info
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.
:::
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.
:::
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.
:::
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
These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Othwerwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured.
1. [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN): When driving in a straight line (right stick centered) position mode leverages the same path following algorithm used in [auto modes](../flight_modes_rover/auto.md) called [pure pursuit](position_tuning.md#pure-pursuit-guidance-logic-info-only) to achieve the best possible straight line driving behaviour.
This parameter determines how aggressive the controller will steer towards the path.
::: tip
Decreasing the parameter makes it more aggressive but can lead to oscillations.
To tune this:
1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.
4. Repeat until you are satisfied with the behaviour.
:::
2. [PP_LOOKAHD_MIN](#PP_LOOKAHD_MIN): Minimum threshold for the lookahead distance used by the [pure pursuit algorithm](position_tuning.md#pure-pursuit-guidance-logic-info-only).
::: tip
Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and drive at very low speeds, if the rover starts to oscillate even though the tuning of [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN) was good for medium speeds, then increase the value of [PP_LOOKAHD_MIN](#PP_LOOKAHD_MIN).
:::
3. [PP_LOOKAHD_MAX](#PP_LOOKAHD_MAX): Maximum threshold for the lookahead distance used by [pure pursuit](position_tuning.md#pure-pursuit-guidance-logic-info-only).
::: tip
Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and drive at very high speeds, if the rover does not drive in a straight line even though the tuning of [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN) was good for medium speeds, then decrease the value of [PP_LOOKAHD_MAX](#PP_LOOKAHD_MAX).
:::
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).
## Attitude Controller Structure (Info Only)
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) [$rad$]
The speed controller uses the following structure:
![Rover Speed Controller](../../assets/config/rover/rover_speed_controller.png)
The feed forward mapping is done by interpolating the speed setpoint 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].
For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefor the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
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.
## Parameter Overview
| 매개변수 | 설명 | 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
| 매개변수 | 설명 | 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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@@ -132,7 +132,7 @@ To switch between branches:
## 특정 릴리스 가져오기
Specific PX4 point releases are made as tags of the [release branches](#get-a-release-branch), and are named using the format `v<release>`.
These are listed on Github here (or you can query all tags using `git tag -l`).
These are [listed on Github here](https://github.com/PX4/PX4-Autopilot/releases?q=release&expanded=true) (or you can query all tags using `git tag -l`).
To get the source code for a _specific older release_ (tag):

4
docs/ko/dronecan/holybro_h_rtk_zed_f9p_gps.md
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@@ -54,7 +54,7 @@ The high-precision PNI RM3100 compass ensures accurate orientation and stability
The Holybro ZED-F9P GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
For dual F9P setups leveraging GPS yaw, connect both F9P CAN connectors to the same bus via a CAN or I2C expansion splitter or hub.
For dual F9P setups leveraging GPS yaw, connect both F9P CAN connectors to the same bus via a CAN or I2C expansion splitter or [hub](https://holybro.com/products/can-hub?_pos=1&_sid=eeb6b74b2&_ss=r).
## Firmware Setup
@@ -88,7 +88,7 @@ DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enablin
- For the the single Rover the module should be mounted with the included mast.
- For the Dual ZED-F9P setup (moving baseline), the DroneCAN modules should be placed at least 30cm apart on the airframe and elevated on a mast also.
See the following mast.
See the following [mast](https://holybro.com/products/30-antenna-mount?_pos=20&_sid=67b49d76b&_ss=r).
- F9P module arrow(s) should be pointing forward with respect to the autopilot orientation.
## Dual ZED-F9P DroneCAN Modules For Heading

4
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@@ -66,9 +66,9 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
[CUAV Store](https://store.cuav.net/shop/v5-nano/)
CUAV Aliexpress (international users)
[CUAV Aliexpress](https://www.aliexpress.com/item/33050770314.html?storeId=3257035&spm=2114.12010612.8148356.9.dbe6790bjW2hpH) (international users)
CUAV Taobao (China Mainland users)
[CUAV Taobao](https://item.taobao.com/item.htm?spm=a230r.1.14.8.26ab5258veQJRu&id=569404317857&ns=1&abbucket=13#detail) (China Mainland users)
:::info
Autopilot may be purchased with included Neo GPS module

2
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@@ -71,7 +71,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
[CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.90158.0&scm_id=1007.13339.90158.0&scm-url=1007.13339.90158.0&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)
CUAV Taobao (China Mainland users)
[CUAV Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c.w4002-21303114052.37.a28f697aeYzQx9&id=594262853015) (China Mainland users)
:::info
Autopilot may be purchased with included Neo GPS module

2
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@@ -204,5 +204,5 @@ The complete set of supported configurations can be seen in the [Airframes Refer
- [PM02 Power Module](../power_module/holybro_pm02.md)
- [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
- [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
- FMUv6C reference design pinout.
- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing&ouid=113251442407318461574&rtpof=true&sd=true).
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).

2
docs/ko/flight_controller/nxp_rddrone_fmuk66.md
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@@ -126,6 +126,6 @@ The NXP [HoverGames Drone Kit](https://www.nxp.com/kit-hgdronek66) (shown above)
- [HoverGames online documentation](https://nxp.gitbook.io/hovergames) PX4 user and programming guide, specific assembly, construction, debugging, programming instructions.
- 3DModels supporting HoverGames and RDDRONE-FMUK66 can be found on _Thingiverse_ at these search links: fmuk66, hovergames.
- 3DModels supporting HoverGames and RDDRONE-FMUK66 can be found on _Thingiverse_ at these search links: [fmuk66](https://www.thingiverse.com/search?q=fmuk66&type=things&sort=relevant), [hovergames](https://www.thingiverse.com/search?q=hovergames&type=things&sort=relevant).
![HoverGamesDronelogo](../../assets/flight_controller/nxp_rddrone_fmuk66/hovergames_colored_small.png)

2
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@@ -326,7 +326,7 @@ make px4_fmu-v2_default
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Distrelec](https://www.distrelec.ch/en/minitek-127-straight-male-pcb-header-surface-mount-rows-10-contacts-27mm-pitch-amphenol-fci-20021521-00010d4lf/p/14352308), [Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370) or [Mouser](http://ch.mouser.com/ProductDetail/Harwin/M50-3600542/?qs=%2fha2pyFadujTt%2fIEz8xdzrYzHAVUnbxh8Ki%252bwWYPNeEa09PYvTkIOQ%3d%3d))
- JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). 케이블 없이 제공될 수 있습니다 (제조업체에 확인).
If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or Digi-Key Link: SAM8218-ND) or Tag Connect Ribbon and a Mini-USB cable.
If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](http://www.digikey.com/product-search/en?x=0&y=0&lang=en&site=us&KeyWords=FFSD-05-D-06.00-01-N)) or [Tag Connect Ribbon](http://www.tag-connect.com/CORTEXRIBBON10) and a Mini-USB cable.
- JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/USER_MANUAL/DM00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
- JTAG Adapter Option #3: [SparkFun Link: Olimex ARM-TINY](http://www.sparkfun.com/products/8278) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
- **USARTs**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND))

2
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@@ -210,5 +210,5 @@ The complete set of supported configurations can be seen in the [Airframes Refer
- [PM02 Power Module](../power_module/holybro_pm02.md)
- [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
- [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
- FMUv6C reference design pinout.
- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing&ouid=113251442407318461574&rtpof=true&sd=true).
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).

2
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@@ -213,5 +213,5 @@ The complete set of supported configurations can be seen in the [Airframes Refer
- [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
- [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
- [PM08 Power Module](https://holybro.com/products/pm08-power-module-14s-200a)
- FMUv6C reference design pinout.
- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing&ouid=113251442407318461574&rtpof=true&sd=true).
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).

3
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@@ -7,8 +7,7 @@ For information about flight modes available to specific frames see the followin
- [Flight Modes (Multicopter)](../flight_modes_mc/index.md)
- [Flight Modes (Fixed-Wing)](../flight_modes_fw/index.md)
- [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
- [Drive Modes (Rover)](../flight_modes_rover/index.md)
:::info
The mode sub-topics in this section contain information that is common to all vehicles, but may not be relevant to the normal/default setup.

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@@ -56,5 +56,4 @@ Select the mode-specific sidebar topics for detailed technical information.
- [Basic Configuration > Flight Modes](../config/flight_mode.md) - How to map RC control switches to specific flight modes
- [Flight Modes (Multicopter)](../flight_modes_mc/index.md)
- [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
- [Drive Modes (Rover)](../flight_modes_rover/index.md)

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@@ -53,5 +53,5 @@ Select the mode-specific sidebar topics for more detailed technical information.
- [Basic Configuration > Flight Modes](../config/flight_mode.md) - How to map RC control switches to specific flight modes
- [Flight Modes (Fixed-Wing)](../flight_modes_fw/index.md)
- [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
- [Drive Modes (Rover)](../flight_modes_rover/index.md)

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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.
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.md) to [Position tuning](../config_rover/position_tuning.md)).
## Mission Mode
_Mission mode_ is an automatic mode that causes the vehicle to execute a predefined autonomous [mission plan](../flying/missions.md) that has been uploaded to the flight controller.
The mission is typically created and uploaded with a Ground Control Station (GCS) application, such as [QGroundControl](https://docs.qgroundcontrol.com/master/en/).
### Mission commands
The following commands can be used in missions at time of writing (PX4 v1.16):
| QGC mission item | 통신 | 설명 |
| ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------- |
| Mission start | [MAV_CMD_MISSION_START](MAV_CMD_MISSION_START) | Starts the mission. |
| Waypoint | [MAV_CMD_NAV_WAYPOINT](MAV_CMD_NAV_WAYPOINT) | Navigate to waypoint. |
| Return to launch | [MAV\_CMD\_NAV\_RETURN\_TO\_LAUNCH][MAV_CMD_NAV_RETURN_TO_LAUNCH] | Return to the launch location. |
| Change speed | [MAV\_CMD\_DO\_CHANGE\_SPEED][MAV_CMD_DO_CHANGE_SPEED] | Change the speed setpoint |
| Set launch location | [MAV_CMD_DO_SET_HOME](MAV_CMD_DO_SET_HOME) | Changes launch location to specified coordinates. |
| Jump to item (all) | [MAV\_CMD\_DO\_JUMP][MAV_CMD_DO_JUMP] (and other jump commands) | Jump to specified mission item. |
[MAV_CMD_MISSION_START]: https://mavlink.io/en/messages/common.html#MAV_CMD_MISSION_START
[MAV_CMD_NAV_WAYPOINT]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT
[MAV_CMD_NAV_RETURN_TO_LAUNCH]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RETURN_TO_LAUNCH
[MAV_CMD_DO_CHANGE_SPEED]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED
[MAV_CMD_DO_SET_HOME]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_HOME
[MAV_CMD_DO_JUMP]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_JUMP
## Return Mode
The vehicle will return to the launch position.
Return mode can be activated through the respective [mission command](#mission-commands) or through the ground station UI.

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# Drive Modes
Flight modes (or more accurately "Drive modes" for ground vehicles) provide autopilot support to make it easier to manually drive the vehicle or to execute autonomous missions.
This section outlines all supported drive modes for [Rovers](../frames_rover/index.md).
For information on mapping RC control switches to specific modes see: [Basic Configuration > Flight Modes](../config/flight_mode.md).
:::warning
Selecting any other mode than those listed below will either stop the rover or can lead to undefined behaviour.
:::
## Manual Modes
| Mode | 설명 |
| --------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [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. |
## Auto Modes
| Mode | 설명 |
| ------------------------------- | --------------------------------------------------------------------------------------- |
| [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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# Manual Modes
Manual modes require stick inputs from the user to drive the vehicle.
![Manual Controls](../../assets/flight_modes/rover_manual_controls.png)
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 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 | 설명 |
| --------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [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
| Mode | Speed | Turning | Required measurements |
| ------------------------------ | ---------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- |
| [Manual](#manual-mode) | Directly map stick input to motor command. | Directly map stick input to steering angle/speed difference. | None. |
| [Acro](#acro-mode) | Directly map stick input to motor command. | Stick input creates a yaw rate setpoint for the control system to regulate. | yaw rate. |
| [Stabilized](#stabilized-mode) | Directly map stick input to motor commands. | Stick input creates a yaw rate setpoint for the control system to regulate. If this setpoint is zero (stick is centered) the control system will maintain the current yaw (heading) of the rover. | Yaw rate and yaw. |
| [Position](#position-mode) | Stick input creates a speed setpoint for the control system to regulate. | Stick input creates a yaw rate setpoint for the control system to regulate. If this setpoint is zero (stick is centered) the control system will keep the rover driving in a straight line. | yaw rate, yaw, speed and global position (GPS). |
:::
## 수동 모드
In this mode the stick inputs are directly mapped to motor commands.
The rover does not attempt to maintain a specific orientation or compensate for external factors like slopes or uneven terrain!
The user is responsible for making the necessary adjustments to the stick inputs to keep the rover on the desired course.
| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
| ------------ | --------------------------------------------------- | ------------------------------------------------ | ---------------------------------------------------------- |
| Ackermann | Drive the rover forwards/backwards. | - | Move the steering angle to the left/right. |
| Differential | Drive the rover forwards/backwards. | - | Yaw the rover to the left/right. |
| Mecanum | Drive the rover forwards/backwards. | Yaw the rover to the left/right. | Drive the rover left/right |
For the configuration/tuning of this mode see [Basic Setup](../config_rover/basic_setup.md).
## Acro Mode
:::info
This mode requires a yaw rate measurement.
:::
In this mode the vehicle regulates its yaw rate to a setpoint (but does not stabilize heading or regulate speed).
| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
| ------------ | --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| Ackermann | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will attempt to maintain a zero yaw rate (minimal disturbance rejection). |
| Differential | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will attempt to maintain a zero yaw rate (minimal disturbance rejection) |
| Mecanum | Drive the rover forwards/backwards. | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will attempt to maintain a zero yaw rate (minimal disturbance rejection) | Drive the rover left/right |
For the configuration/tuning of this mode see [Rate tuning](../config_rover/rate_tuning.md).
## Stabilized Mode
:::info
This mode requires a yaw rate and yaw estimate.
:::
In this mode the vehicle regulates its yaw rate to a setpoint and will maintain its heading if this setpoint is zero (but does not regulate speed).
Compared to [Acro mode](#acro-mode), this mode is much better at driving in a straight line as it can more effectively reject disturbances.
| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
| ------------ | --------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Ackermann | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the current yaw. |
| Differential | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the current yaw. |
| Mecanum | Drive the rover forwards/backwards. | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the current yaw. | Drive the rover left/right |
For the configuration/tuning of this mode see [Attitude tuning](../config_rover/attitude_tuning.md).
## Position Mode
:::info
This mode requires a yaw rate, yaw, speed and global position estimate.
:::
This is the manual mode with the most autopilot support.
The vehicle regulates its yaw rate and speed to a setpoint.
If the yaw rate setpoint is zero, the controller will remember the GPS coordinates and yaw (heading) of the vehicle and use those to construct a line that the rover will then follow (course control).
This offers the highest amount of disturbance rejection, which leads to the best straight line driving behavior.
| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
| ------------ | --------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| Ackermann | Stick position sets a forward/back speed setpoint. The vehicle attempts to maintain this speed on slopes etc. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the course of the rover. |
| Differential | Stick position sets a forward/back speed setpoint. The vehicle attempts to maintain this speed on slopes etc. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the course of the rover. |
| Mecanum | Stick position sets a forward/back speed setpoint. The vehicle attempts to maintain this speed on slopes etc. | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the course of the rover. | Stick position sets a left/right speed setpoint. The vehicle attempts to maintain this speed on slopes etc. |
For the configuration/tuning of this mode see [Velocity tuning](../config_rover/velocity_tuning.md).

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@@ -14,7 +14,7 @@ This topic provides full instructions for building the kit and configuring PX4 u
조립에 필요한 부품들입니다.
- Flight controller: CUAV V5+:
- Flight controller: [CUAV V5+](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1):
- GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1)
- 전원 모듈
- Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY)

70
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@@ -9,43 +9,57 @@ Maintainer volunteers, [contribution](../contribute/index.md) of new features, n
![Rovers](../../assets/airframes/rover/rovers.png)
PX4 supports the following rover types:
PX4 provides support for the three most common types of rovers:
| Rover Type | Steering |
| --------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [**Ackermann**](../frames_rover/ackermann.md) | Direction is controlled by pointing wheels in the direction of travel. This kind of steering is used on most commercial vehicles, including cars, trucks etc. |
| [**Differential**](../frames_rover/differential.md) | Direction is controlled by moving the left- and right-side wheels at different speeds (also know as skid or tank steering). |
| [**Mecanum**](../frames_rover/mecanum.md) | Direction is controlled by moving each mecanum wheel individually at different speeds and in different directions. |
| Rover Type | Steering |
| --------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [**Ackermann**](#ackermann) | Direction is controlled by pointing wheels in the direction of travel. This kind of steering is used on most commercial vehicles, including cars, trucks etc. |
| [**Differential**](#differential) | Direction is controlled by moving the left- and right-side wheels at different speeds. |
| [**Mecanum**](#mecanum) | Direction is controlled by moving each mecanum wheel individually at different speeds and in different directions. |
The supported frames can be seen in [Airframes Reference > Rover](../airframes/airframe_reference.md#rover).
## Flashing the Rover Build
## Ackermann
Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build:
<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
1. First build the rover firmware for your flight controller from the `main` branch (there is no release build, so you can't just select this build from QGroundControl).
To build for rover with the `make` command, replace the `_default` suffix with `_rover`.
For example, to build rover for px4_fmu-v6x boards, you would use the command:
```sh
make px4_fmu-v6x_rover
```
::: info
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)):
```sh
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
CONFIG_MODULES_ROVER_MECANUM=y
```
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).
An Ackermann rover controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates.
This kind of steering is used on most commercial vehicles, including cars, trucks etc.
:::info
PX4 does not require that the vehicle uses the Ackermann geometry and will work with any front-steering rover.
:::
2. Load the **custom firmware** that you just built onto your flight controller (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
![Axial Trail Honcho](../../assets/airframes/rover/axial_trail_honcho.png)
## Differential
<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
A differential rover's motion is controlled using a differential drive mechanism, where the left and right wheel speeds are adjusted independently to achieve the desired forward speed and yaw rate.
Forward motion is achieved by driving both wheels at the same speed in the same direction.
Rotation is achieved by driving the wheels at different speeds in opposite directions, allowing the rover to turn on the spot.
![Aion R1](../../assets/airframes/rover/aion_r1/r1_rover_no_bg.png)
:::info
The differential setup also work for rovers with skid or tank steering.
:::
## Mecanum
<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first.
Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place.
![Mecanum rover](../../assets/airframes/rover/rover_mecanum.png)
## See Also
- [Drive Modes](../flight_modes_rover/index.md).
- [Configuration/Tuning](../config_rover/index.md)
- [Complete Vehicles](../complete_vehicles_rover/index.md)
## 시뮬레이션

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@@ -4,7 +4,7 @@
:::warning
This information applies to the original generic rover module that was derived from the fixed wing controller.
It has been replaced with new modules for [Ackermann](../frames_rover/ackermann.md) and [Differential-steering](../frames_rover/differential.md) rovers.
It has been replaced with new modules for [Ackermann](../frames_rover/index.md#ackermann) and [Differential-steering](../frames_rover/index.md#differential) rovers.
This module is no longer supported and will receive no updates.
:::

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@@ -334,8 +334,7 @@ An overview of the flight modes implemented within PX4 for each vehicle can be f
- [Flight Modes (Multicopter)](../flight_modes_mc/index.md)
- [Flight Modes (Fixed-Wing)](../flight_modes_fw/index.md)
- [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
- [Drive Modes (Rover)](../flight_modes_rover/index.md)
Instructions for how to set up your remote control switches to enable different flight modes is provided in [Flight Mode Configuration](../config/flight_mode.md).

59
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@@ -36,7 +36,7 @@ Remove propellers before changing ESC configuration parameters!
Enable DShot for your required outputs in the [Actuator Configuration](../config/actuators.md).
DShot comes with different speed options: _DShot150_, _DShot300_, _DShot600_ and _DShot1200_, where the number indicates the speed in kilo-bits/second.
DShot comes with different speed options: _DShot150_, _DShot300_, and _DShot600_ where the number indicates the speed in kilo-bits/second.
You should set the parameter to the highest speed supported by your ESC (according to its datasheet).
그런 다음 배터리를 연결하고 기체의 시동을 켭니다.
@@ -111,18 +111,19 @@ See [here](../modules/modules_driver.md#dshot) for a full reference of the suppo
:::
## 텔레메트리
일부 ESC는 다음을 포함하여 텔레메트리 측정데이터를 비행 콘트롤러로 재전송할 수 있습니다.
- 온도
- 전압
- 전류
- 누적 전류 소비
- RPM 값
## ESC Telemetry
Some ESCs are capable of sending telemetry back to the flight controller through a UART RX port.
이러한 DShot ESC에는 추가 텔레메트리 와이어가 있습니다.
The provided telemetry includes:
- Temperature
- 전압
- Current
- Accumulated current consumption
- RPM 값
이 기능을 활성화하려면(지원 ESC에서) :
1. 모든 ESC의 모든 원격 측정 와이어를 함께 연결한 다음, 사용하지 않는 비행 콘트롤러 직렬 포트의 RX핀 중 하나에 연결합니다.
@@ -148,3 +149,41 @@ ERROR [dshot] No data received. If telemetry is setup correctly, try again.
세부 사항은 제조업체 문서를 확인하십시오.
:::
## Bidirectional DShot (Telemetry)
<Badge type="tip" text="PX4 v1.16" />
Bidirectional DShot is a protocol that can provide telemetry including: high rate ESC RPM data, voltage, current, and temperature with a single wire.
The PX4 implementation currently enables only ESC RPM (eRPM) data collection from each ESC at high frequencies.
This telemetry significantly improves the performance of [Dynamic Notch Filters](../config_mc/filter_tuning.md#dynamic-notch-filters) and enables more precise vehicle tuning.
:::info
The [ESC Telemetry](#esc-telemetry) described above is currently still necessary if you want voltage, current, or temperature information.
It's setup and use is independent of bidirectional DShot.
:::
### 하드웨어 설정
The ESC must be connected to FMU outputs only.
These will be labeled `MAIN` on flight controllers that only have one PWM bus, and `AUX` on controllers that have both `MAIN` and `AUX` ports (i.e. FCs that have an IO board).
:::warning
**Limited hardware support**
This feature is only supported on flight controllers with the following processors:
- STM32H7: First four FMU outputs
- Must be connected to the first 4 FMU outputs, and these outputs must also be mapped to the same timer.
- [KakuteH7](../flight_controller/kakuteh7v2.md) is not supported because the outputs are not mapped to the same timer.
- [i.MXRT](../flight_controller/nxp_mr_vmu_rt1176.md) (V6X-RT & Tropic): 8 FMU outputs.
No other boards are supported.
:::
### Configuration {#bidirectional-dshot-configuration}
To enable bidirectional DShot, set the [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) parameter.
The system calculates actual motor RPM from the received eRPM data using the [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) parameter.
This parameter must be set correctly for accurate RPM reporting.

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@@ -158,7 +158,7 @@ Integrators should test than the remote ID module is broadcasting the correct in
This is most easily done using a 3rd party application on your mobile device:
- [Drone Scanner](https://github.com/dronetag/drone-scanner) (Google Play or Apple App store)
- OpenDroneID OSM (Google Play)
- [OpenDroneID OSM](https://play.google.com/store/apps/details?id=org.opendroneid.android_osm&hl=en&gl=US) (Google Play)
## 구현

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@@ -204,7 +204,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### 탐사선
- [Aion R1](../frames_rover/aion_r1.md)<Badge type="warning" text="Experimental"/>: ESC Driver for Roboclaw motor controller.
- [Aion R1](../complete_vehicles_rover/aion_r1.md)<Badge type="warning" text="Experimental"/>: ESC Driver for Roboclaw motor controller.
This comes with build instructions and support for the Aion R1, a new differential drive rover, along with information about integrating the Roboclaw motor controller.
- Add dedicated Rover build variants to px4/fmu-{v5,v5x,v6c,v6x} ([PX4-Autopilot#22675](https://github.com/PX4/PX4-Autopilot/pull/22675))

16
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View File

@@ -192,13 +192,13 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
This release contains a major rework for the rover support in PX4:
- Complete restructure of the [rover related documentation](../frames_rover/index.md).
- New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build).
- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md):
- The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode), [acro mode](../flight_modes_rover/ackermann.md#acro-mode), [position mode](../flight_modes_rover/ackermann.md#position-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
- New module dedicated to [differential rovers](../frames_rover/differential.md):
- The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md):
- The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
- New firmware build specifically for [rovers](../config_rover/index.md#flashing-the-rover-build).
- New module dedicated to [Ackermann rovers](../frames_rover/index.md#ackermann):
- The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md).
- New module dedicated to [differential rovers](../frames_rover/index.md#differential):
- The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md).
- New module dedicated to [mecanum rovers](../frames_rover/index.md#mecanum):
- The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md).
- Added rover-specific firmware build (`50000–52000`) for Ackermann, differential and mecanum rovers
- Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
@@ -206,7 +206,7 @@ This release contains a major rework for the rover support in PX4:
- Generic Ackermann Rover `51000`.
- Axial SCX10 2 Trail Honcho `51001`.
- Generic Mecanum Rover `52000`.
- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules.
- Library for the [pure pursuit guidance algorithm](../config_rover/position_tuning.md#pure-pursuit-guidance-logic-info-only) that is shared by all the rover modules.
- [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.

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@@ -40,7 +40,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### 공통
- TBD
- [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)).
### 제어

2
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@@ -31,7 +31,7 @@ TFRPM01A 전자 장치에는 프로브가 연결 여부를 표시하는 LED가
홀 효과 센서 (자기 적으로 작동)는 먼지, 먼지 및 물이 감지된 로터에 접촉할 수있는 열악한 환경에 이상적입니다.
다양한 홀 효과 센서가 시판중입니다.
For example, a 55100 Miniature Flange Mounting Proximity Sensor is a good choice.
For example, a [55100 Miniature Flange Mounting Proximity Sensor](https://m.littelfuse.com/media?resourcetype=datasheets&itemid=6d69d457-770e-46ba-9998-012c5e0aedd7&filename=littelfuse-hall-effect-sensors-55100-datasheet) is a good choice.
![Example of Hall effect probe](../../assets/hardware/sensors/tfrpm/hall_probe.jpg)

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@@ -4,22 +4,22 @@
It is recommended for:
- Connecting offboard components that require low bandwidth and low latency communication, e.g. [rangefinders](../sensor/rangefinders.md), [magnetometers](../gps_compass/magnetometer.md), [airspeed sensors](../sensor/airspeed.md) and [tachometers](../sensor/tachometers.md) .
- Connecting offboard components that require low bandwidth and low latency communication, e.g. [rangefinders](../sensor/rangefinders.md), [magnetometers](../gps_compass/magnetometer.md), [airspeed sensors](../sensor/airspeed.md) and [tachometers](../sensor/tachometers.md).
- I2C만 지원하는 주변기기 호환성
- Allowing multiple devices to attach to a single bus, which is useful for conserving ports.
I2C allows multiple master devices to connect to multiple slave devices using only 2 wires per connection (SDA, SCL).
in theory a bus can support 128 devices, each accessed via its unique address.
in theory, a bus can support 128 devices, each accessed via its unique address.
:::info
UAVCAN would normally be preferred where higher data rates are required, and on larger vehicles where sensors are be mounted further from the flight controller.
UAVCAN would normally be preferred where higher data rates are required, and on larger vehicles where sensors are mounted further from the flight controller.
:::
## 배선
I2C uses a pair of wires: SDA (serial data) and SCL (serial clock).
The bus is of open-drain type, meaning that devices ground the data line.
It uses a pullup resistor to push it to `log.1` (idle state) - every wire has it usually located on the bus terminating devices.
It uses a pull-up resistor to push it to `log.1` (idle state) - every wire has it usually located on the bus terminating devices.
One bus can connect to multiple I2C devices.
The individual devices are connected without any crossing.
@@ -50,44 +50,48 @@ If two I2C devices on a bus have the same ID there will be a clash, and neither
This usually occurs because a user needs to attach two sensors of the same type to the bus, but may also happen if devices use duplicate addresses by default.
Particular I2C devices may allow you to select a new address for one of the devices to avoid the clash.
Some devices do not support this option, or do not have broad options for the addresses that can be used (i.e. cannot be used to avoid a clash).
Some devices do not support this option or do not have broad options for the addresses that can be used (i.e. cannot be used to avoid a clash).
If you can't change the addresses, one option is to use an [I2C Address Translator](#i2c-address-translators).
### Insufficient Transfer Capacity
The bandwidth available for each individual device generally decreases as more devices are added. The exact decrease depends on the bandwidth used by each individual device. Therefore it is possible to connect many low bandwidth devices, like [tachometers](../sensor/tachometers.md).
The bandwidth available for each device generally decreases as more devices are added. The exact decrease depends on the bandwidth used by each individual device. Therefore it is possible to connect many low-bandwidth devices, like [tachometers](../sensor/tachometers.md).
If too many devices are added, it can cause transmission errors and network unreliability.
There are several ways to reduce the problem:
- Dividing the devices into groups, each with approximately the same number of devices and connecting each group to one autopilot port
- Dividing the devices into groups, each with approximately the same number of devices, and connecting each group to one autopilot port
- Increase bus speed limit (usually set to 100kHz for external I2C bus)
### Excessive Wiring Capacitance
The electrical capacity of bus wiring increases as more devices/wires are added. The exact decrease depends on total length of bus wiring and wiring specific capacitance.
The electrical capacity of bus wiring increases as more devices/wires are added. The exact decrease depends on the total length of bus wiring and wiring-specific capacitance.
The problem can be analyzed using an oscilloscope, where we see that the edges of SDA/SCL signals are no longer sharp.
There are several ways to reduce the problem:
- Dividing the devices into groups, each with approximately the same number of devices and connecting each group to one autopilot port
- Using the shortest and the highest quality I2C cables possible
- Separating the devices with a weak open-drain driver to smaller bus with lower capacitance
- [I2C Bus Accelerators](#i2c-bus-accelerators)
- Dividing the devices into groups, each with approximately the same number of devices, and connecting each group to one autopilot port
- Using the shorter and higher quality I2C cables, see the [cable wiring page](../assembly/cable_wiring.md#i2c-cables) for details
- Separating the devices with a weak open-drain driver to smaller buses with lower capacitance by using [I2C Bus Accelerators](#i2c-bus-accelerators)
## I2C Bus Accelerators
I2C bus accelerators are separate circuits that can be used to support longer wiring length on an I2C bus.
I2C bus accelerators are separate circuits that can be used to support longer wiring lengths on an I2C bus.
They work by physically dividing an I2C network into 2 parts and using their own transistors to amplify I2C signals.
Available accelerators include:
- [Thunderfly TFI2CEXT01](https://github.com/ThunderFly-aerospace/TFI2CEXT01):
- [Thunderfly TFI2CEXT01](https://docs.thunderfly.cz/avionics/TFI2CEXT01/):
![I2C bus extender](../../assets/peripherals/i2c_tfi2cext/tfi2cext01a_bottom.jpg)
- This has Dronecode connectors and is hence very easy to add to a Pixhawk I2C setup.
- The module has no settings (it works out of the box).
### I2C Level Converter function
Some I2C devices have 5V on the data lines, while the Pixhawk connector standard port expects these lines to be 3.3 V.
You can use the TFI2CEXT01 as a level converter to connect 5V devices to a Pixhawk I2C port. This feature is possible because the SCL and SDA lines of TFI2CEXT01 are 5V tolerant.
## I2C Address Translators
I2C Address Translators can be used to prevent I2C address clashes in systems where there is no other way to assign unique addresses.
@@ -96,20 +100,12 @@ The work by listening for I2C communication and transforming the address when a
Supported I2C Address Translators include:
- [Thunderfly TFI2CADT01](../sensor_bus/translator_tfi2cadt.md)
- This has Dronecode connectors and is very easy to add to a Pixhawk I2C setup.
## I2C Bus Splitters
I2C Bus Splitters are circuit boards that split the I2C port on your flight controller into multiple ports.
They are useful if you want to use multiple I2C peripherals on a flight controller that has only one I2C port (or too few), such as an airspeed sensor and a distance sensor.
You can find an appropriate board using an internet search.
## I2C Level Converter
Some I2C devices have 5V on the data lines, while the Pixhawk connector standard port expects these lines to be 3.3 V.
You can use an I2C level converter to connect 5V devices to a Pixhawk I2C port.
You can find an appropriate covnerter using an internet search.
I2C Bus Splitters are devices that split the I2C port on your flight controller into multiple connectors.
They are useful if you want to use multiple I2C peripherals on a flight controller that has only one I2C port (or too few), such as an airspeed sensor and a distance sensor. Both devices [I2C Address Translator](../sensor_bus/translator_tfi2cadt.md) and [I2C Bus Accelerators](#i2c-bus-accelerators) could also be used as I2C splitters because they have multiple I2C connectors for connecting additional I2C devices.
## I2C Development

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@@ -1,12 +1,11 @@
# TFI2CADT01 - I²C Address Translator
[TFI2CADT01](https://github.com/ThunderFly-aerospace/TFI2CADT01) is an address translator module that is compatible with Pixhawk and PX4.
[TFI2CADT01](https://docs.thunderfly.cz/avionics/TFI2CADT01/) is an address translator module that is compatible with Pixhawk and PX4.
Address translation allows multiple I2C devices with the same address to coexist on an I2C network.
The module may be needed if using several devices that have the same hard-coded address.
The module has an input and an output side.
A sensor is connected to the master device on one side.
The module has an input and an output side and a sensor is connected to the master device on one side.
On the output side sensors, whose addresses are to be translated, can be connected.
The module contains two pairs of connectors, each pair responsible for different translations.
@@ -14,7 +13,7 @@ The module contains two pairs of connectors, each pair responsible for different
:::info
[TFI2CADT01](https://github.com/ThunderFly-aerospace/TFI2CADT01) is designed as open-source hardware with GPLv3 license.
It is commercially available from [ThunderFly](https://www.thunderfly.cz/) company or from [Tindie eshop](https://www.tindie.com/products/thunderfly/tfi2cadt01-i2c-address-translator/).
It is commercially available from [ThunderFly](https://www.thunderfly.cz/) company or from [Tindie eshop](https://www.tindie.com/products/26353/).
:::
## Address Translation Method
@@ -31,7 +30,7 @@ If you need your own value for address translation, changing the configuration r
The tachometer sensor [TFRPM01](../sensor/thunderfly_tachometer.md) can be set to two different addresses using a solder jumper.
If the autopilot has three buses, only 6 sensors can be connected and no bus remains free (2 available addresses \* 3 I2C ports).
In some multicopters or VTOL solutions, there is a need to measure the RPM of 8 or more elements.
The [TFI2CADT01](https://www.tindie.com/products/thunderfly/tfi2cadt01-i2c-address-translator/) is highly recommended in this case.
The [TFI2CADT01](https://www.tindie.com/products/26353/) is highly recommended in this case.
![Multiple sensors](../../assets/peripherals/i2c_tfi2cadt/tfi2cadt01_multi_tfrpm01.jpg)
@@ -56,7 +55,7 @@ graph TD
:::info
TFI2CADT01 does not contain any I2C buffer or accelerator.
As it adds additional capacitance on the bus, we advise combining it with some bus booster, e.g. [TFI2CEXT01](https://github.com/ThunderFly-aerospace/TFI2CEXT01).
As it adds additional capacitance on the bus, we advise combining it with some bus booster, e.g. [TFI2CEXT01](https://docs.thunderfly.cz/avionics/TFI2CEXT01/).
:::
### 기타 자료

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@@ -47,7 +47,7 @@ Note that `aptitude` is needed because it can resolve dependency conflicts (by r
:::tip
You could also modify the installation script to install Gazebo Classic on Ubuntu 22.04 before it is run for the first time.
Additional installation instructions can be found on gazebosim.org.
Additional installation instructions can be found on [gazebosim.org](http://gazebosim.org/tutorials?cat=guided_b&tut=guided_b1).
:::
## Running the Simulation

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@@ -182,7 +182,7 @@ make px4_sitl gz_tiltrotor
### Differential Rover
[Differential Rover](../frames_rover/differential.md) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
[Differential Rover](../frames_rover/index.md#differential) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
```sh
make px4_sitl gz_r1_rover
@@ -192,7 +192,7 @@ make px4_sitl gz_r1_rover
### Ackermann Rover
[Ackermann Rover](../frames_rover/ackermann.md) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
[Ackermann Rover](../frames_rover/index.md#ackermann) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
```sh
make px4_sitl gz_rover_ackermann

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@@ -45,7 +45,7 @@ It is not recommended as the low frame rate causes segmentation faults on some f
## 탐사선
Rover world is optimised for rovers (and will be further optimised for rovers) and is the default world for [Ackermann Rover (4012)](../frames_rover/ackermann.md) (`make px4_sitl gz_rover_ackermann`) and [Differential Rover ((r1-rover (4009))](../frames_rover/differential.md) (`make px4_sitl gz_r1_rover`).
Rover world is optimised for rovers (and will be further optimised for rovers) and is the default world for [Ackermann Rover (4012)](../frames_rover/index.md#ackermann) (`make px4_sitl gz_rover_ackermann`) and [Differential Rover ((r1-rover (4009))](../frames_rover/index.md#differential) (`make px4_sitl gz_r1_rover`).
[PX4-gazebo-models/main/worlds/rover.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/rover.sdf)

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@@ -30,7 +30,7 @@ ESP8266 모듈은 여러 곳에서 쉽게 구매할 수 있습니다.
The Kahuna comes with a cable to connect directly to the Pixhawk-standard `TELEM1` or `TELEM2` ports.
It is pre-flashed with the latest firmware, and has a u.fl connector for an external antenna.
At most you may need to set the baud rate parameter, which for `TELEM1` is `SER_TEL1_BAUD = 57600 (57600 8N1)`.
The User Guide include WiFi setup and other relevant information.
The [User Guide](https://docs.google.com/document/d/1VyOsp9_q6dIAdYdWuDFcWoqqrNy_vbFMANubZA3Uz5g/edit?pli=1&tab=t.0) include WiFi setup and other relevant information.
![Kahuna ESP8266 WiFi Module](../../assets/peripherals/telemetry/esp8266/beyond_robotics_kahuna_esp8266.png)

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@@ -58,7 +58,7 @@ For example, the partial hierarchy below shows that the docker container with nu
The most recent version can be accessed using the `latest` tag: `px4io/px4-dev-nuttx-focal:latest`
(available tags are listed for each container on _hub.docker.com_.
For example, the `px4io/px4-dev-nuttx-focal` tags can be found here).
For example, the `px4io/px4-dev-nuttx-focal` tags can be found [here](https://hub.docker.com/r/px4io/px4-dev-nuttx-focal/tags?page=1&ordering=last_updated)).
:::tip
Typically you should use a recent container, but not necessarily the `latest` (as this changes too often).