mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-30 19:47:50 +08:00
[rover] improve support for ROVER firmware (#3530)
- possibility to use basic PID with steering rover - fix navigation - add support for mission mode - fix simulator (orientation was wrong, leading to opposite steering between sim and reality) - add support of 2 wheels rover in simulation - add and update config files
This commit is contained in:
Gautier Hattenberger
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GitHub
GitHub
parent
e9a8673f97
commit
41048101d0
@@ -1,4 +1,4 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<airframe name="Rover">
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@@ -16,6 +16,11 @@
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<target name="ap" board="chimera_1.0">
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="rover"/> <!-- NPS_FDM rover physics!! -->
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<define name="NPS_BYPASS_AHRS" value="TRUE"/>
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<define name="NPS_BYPASS_INS" value="TRUE"/>
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</target>
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<module name="radio_control" type="datalink">
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<!--define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/-->
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@@ -98,6 +103,7 @@
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<define name="MODE_MANUAL" value="AP_MODE_DIRECT"/> <!-- for compilation -->
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<define name="MODE_AUTO1" value="AP_MODE_DIRECT"/> <!-- for compilation -->
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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</section>
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<section name="BAT">
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@@ -111,10 +117,7 @@
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</section>
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<section name="GCS">
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<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
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<define name="ALT_SHIFT_PLUS" value="1"/>
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<define name="ALT_SHIFT_MINUS" value="-1"/>
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<define name="AC_ICON" value="quadrotor_x"/>
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<define name="AC_ICON" value="rover"/>
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</section>
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</airframe>
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@@ -0,0 +1,147 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<airframe name="Rover E Maxx">
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<firmware name="rover">
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<autopilot name="rover_steering_pid"/>
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<configure name="PERIODIC_FREQUENCY" value="150"/>
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<target name="ap" board="tawaki_1.0">
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<module name="radio_control" type="sbus"/>
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</target>
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<target name="nps" board="pc">
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<module name="radio_control" type="datalink"/>
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<module name="fdm" type="rover"/>
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<define name="NPS_BYPASS_AHRS" value="TRUE"/>
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<define name="NPS_BYPASS_INS" value="TRUE"/>
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<!-- Multiple agents simulation -->
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<!--configure name="MODEM_PORT_OUT" value="4246"/>
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<configure name="MODEM_PORT_IN" value="4247"/-->
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</target>
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<module name="actuators" type="pwm"/>
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<module name="telemetry" type="xbee_api"/>
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<module name="actuators" type="sbus">
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<configure name="ACTUATORS_SBUS_DEV" value="UART4"/>
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</module>
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<module name="power_switch" >
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<define name="POWER_SWITCH_GPIO" value="GPIOA,GPIO1"/>
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</module>
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<module name="gimbal" type="caddx_gm3"/>
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<module name="joystick"/>
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<module name="board_tawaki" />
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<module name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B115200"/>
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<define name="GPS_POS_BROADCAST"/>
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</module>
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<module name="ins"/>
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<module name="ahrs" type="int_cmpl_quat">
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<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0.1"/>
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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<configure name="USE_MAGNETOMETER" value="0"/>
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</module>
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</firmware>
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<!-- COMMANDS SECTION ..................................................................... -->
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<servos driver="Pwm">
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<!-- "no" 1 and 2 but no 0 because our board don't have S0 actuator entry... -->
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<servo name="MOTOR_THROTTLE" no="1" min="1410" neutral="1510" max="1730"/>
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<servo name="MOTOR_STEERING" no="2" min="942" neutral="1436" max="1944"/>
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</servos>
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<!-- gimbal -->
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<servos driver="Sbus">
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<servo name="GIMBAL_CADDX_MODE" no="0" min="172" neutral="992" max="1811"/>
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<servo name="GIMBAL_CADDX_ROLL" no="1" min="800" neutral="1005" max="1265"/>
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<servo name="GIMBAL_CADDX_TILT" no="2" min="655" neutral="1100" max="1538"/>
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<servo name="GIMBAL_CADDX_PAN" no="3" min="428" neutral="1019" max="1610"/>
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<servo name="GIMBAL_CADDX_SENS" no="4" min="172" neutral="992" max="1811"/>
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</servos>
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<!-- Low level commands (PWM signal) -->
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="STEERING" failsafe_value="0"/>
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<axis name="CAM_PAN" failsafe_value="0"/>
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<axis name="CAM_TILT" failsafe_value="0"/>
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</commands>
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<!-- When SetCommandsFromRC -->
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="STEERING" value="@ROLL"/>
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</rc_commands>
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<!-- When SetActuatorsFromCommands-->
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<command_laws>
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<set servo="MOTOR_THROTTLE" value="@THROTTLE"/>
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<set servo="MOTOR_STEERING" value="@STEERING"/>
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<set servo="GIMBAL_CADDX_PAN" value="@CAM_PAN"/>
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<set servo="GIMBAL_CADDX_TILT" value="@CAM_TILT"/>
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</command_laws>
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<!-- SECTIONS: General config ............................................................. -->
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<section name="IMU" prefix="IMU_">
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix (i.e NPS), on 3D fix is update by geo_mag module if loaded -->
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<!-- Toulouse -->
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<define name="H_X" value="0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value="0.858336"/>
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<define name="USE_GPS" value="TRUE"/>
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</section>
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<section name="ROVER_GUIDANCE_STEERING">
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<define name="MAX_DELTA" value="30.0"/>
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<define name="DRIVE_SHAFT_DISTANCE" value="0.5"/>
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<define name="SR_MEASURED_KF" value="1920"/>
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<define name="ROVER_GUIDANCE_MAX_SPEED" value="5.0"/>
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<define name="ROVER_GUIDANCE_POS_KP" value="0.6"/>
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<define name="ROVER_GUIDANCE_HEADING_KP" value="0.8"/>
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<define name="ROVER_GUIDANCE_SPEED_KP" value="10.0"/>
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<define name="ROVER_GUIDANCE_SPEED_KI" value="10.0"/>
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<define name="ROVER_GUIDANCE_PROXIMITY_DISTANCE" value="3.0"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_KILL"/>
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<define name="MODE_AUTO1" value="AP_MODE_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ROVER_FRICTION" value="0.5"/>
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<define name="ROVER_ACCELERATION" value="2.5"/>
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<define name="USE_COMMANDS" value="TRUE"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="12.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="13" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="13.5" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="17" unit="V"/>
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<define name="BAT_NB_CELLS" value="4"/>
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</section>
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<section name="GCS">
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<define name="AC_ICON" value="rover"/>
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</section>
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</airframe>
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