Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-01 04:46:51 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

[rover] improve support for ROVER firmware (#3530)
Issues due date / Add labels to issues (push) Has been cancelled
Details
Doxygen / build (push) Has been cancelled
Details

Browse Source 
- 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
2025-09-30 08:54:06 +02:00
committed by GitHub
parent e9a8673f97
commit 41048101d0
18 changed files with 1011 additions and 218 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/modules/guidance_rover.xml
+1 -1
View File
@@ -26,7 +26,7 @@
<file name="rover_guidance.h"/>
</header>
<init fun="rover_guidance_init()"/>
<makefile target="ap" firmware="rover">
<makefile target="ap|nps" firmware="rover">
<file name="rover_guidance.c" dir="$(SRC_FIRMWARE)/guidance"/>
</makefile>
</module>
conf/modules/guidance_rover_steering.xml
+7 -3
View File
@@ -15,6 +15,10 @@
<settings name="SR Guidance">
<dl_settings>
<dl_settings NAME="SR Guidance">
<dl_settings NAME="Guidance control">
<dl_setting MAX="10.0" MIN="0.0" STEP="0.01" VAR="guidance_control.pos_kp" shortname="pos_kp"/>
<dl_setting MAX="10.0" MIN="0.0" STEP="0.01" VAR="guidance_control.heading_kp" shortname="heading_kp"/>
</dl_settings>
<dl_settings NAME="Steering control">
<!--TODO: Set MIN_DELTA/MAX_DELTA config limits-->
<dl_setting MAX="15.0" MIN="-15.0" STEP="0.1" VAR="guidance_control.cmd.delta" shortname="sr_delta" param="SR_GUIDANCE_DELTA"/>
@@ -22,15 +26,15 @@
<dl_settings NAME="Speed control">
<dl_setting MAX="10.0" MIN="-10.0" STEP="0.1" VAR="guidance_control.cmd.speed" shortname="sr_speed" param="SR_GUIDANCE_SPEED"/>
<dl_setting MAX="2000.0" MIN="0.0" STEP="1" VAR="guidance_control.kf" shortname="kf"/>
<dl_setting MAX="1000.0" MIN="0.0" STEP="1" VAR="guidance_control.kp" shortname="kp"/>
<dl_setting MAX="1000.0" MIN="0.0" STEP="1" VAR="guidance_control.ki" shortname="ki"/>
<dl_setting MAX="1000.0" MIN="0.0" STEP="1" VAR="guidance_control.kp" shortname="kp" handler="set_speed_pgain" module="guidance/rover_guidance_steering"/>
<dl_setting MAX="1000.0" MIN="0.0" STEP="1" VAR="guidance_control.ki" shortname="ki" handler="set_speed_igain" module="guidance/rover_guidance_steering"/>
</dl_settings>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>@navigation,gvf_common</depends>
<depends>@navigation</depends>
<provides>guidance,commands</provides>
</dep>
conf/modules/mission_rover.xml
+22
View File
@@ -0,0 +1,22 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="mission_rover" dir="mission" task="control">
<doc>
<description>
Specific interface for mission control of rover.
</description>
</doc>
<dep>
<depends>mission_common</depends>
<provides>mission</provides>
</dep>
<makefile>
<file name="mission_rover_nav.c"/>
<test firmware="rover">
<define name="USE_GENERATED_AUTOPILOT"/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
<define name="USE_UART0"/>
</test>
</makefile>
</module>