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* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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:::warning Support for rover is experimental. Maintainer volunteers, contribution of new features, new frame configurations, or other improvements would all be very welcome! :::
PX4 supports the following rover types:
| Rover Type | Steering |
|---|---|
| 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 | Direction is controlled by moving the left- and right-side wheels at different speeds (also know as skid or tank steering). |
| 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.
Flashing the Rover Build
Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build:
-
First build the rover firmware for your flight controller from the
mainbranch (there is no release build, so you can't just select this build from QGroundControl).To build for rover with the
makecommand, replace the_defaultsuffix with_rover. For example, to build rover for px4_fmu-v6x boards, you would use the command:make px4_fmu-v6x_rover::: info You can also enable the modules in default builds by adding these lines to your board configuration (e.g. for fmu-v6x you might add them to
main/boards/px4/fmu-v6x/default.px4board):CONFIG_MODULES_ROVER_ACKERMANN=y CONFIG_MODULES_ROVER_DIFFERENTIAL=y CONFIG_MODULES_ROVER_MECANUM=yNote 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).
:::
- Load the custom firmware that you just built onto your flight controller (see Loading Firmware > Installing PX4 Main, Beta or Custom Firmware).
Симуляція
Gazebo provides simulations for ackermann and differential rovers:
