mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
41048101d0
- 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
51 lines
2.1 KiB
XML
51 lines
2.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="guidance_rover_steering" dir="guidance" task="control">
|
|
<doc>
|
|
<description>
|
|
Steering guidance for rover.
|
|
</description>
|
|
<!-- TODO: Rover hardware configuration without defining global var.
|
|
<configure name="MAX_DELTA_C" value="15.0"/>
|
|
<configure name="MIN_DELTA_C" value="-$(MAX_DELTA_C)"/>
|
|
<configure name="DRIVE_SHAFT_DISTANCE_C" value="0.25"/>
|
|
-->
|
|
</doc>
|
|
|
|
<settings name="SR Guidance">
|
|
<dl_settings>
|
|
<dl_settings NAME="SR Guidance">
|
|
<dl_settings NAME="Guidance control">
|
|
<dl_setting MAX="10.0" MIN="0.0" STEP="0.01" VAR="guidance_control.pos_kp" shortname="pos_kp"/>
|
|
<dl_setting MAX="10.0" MIN="0.0" STEP="0.01" VAR="guidance_control.heading_kp" shortname="heading_kp"/>
|
|
</dl_settings>
|
|
<dl_settings NAME="Steering control">
|
|
<!--TODO: Set MIN_DELTA/MAX_DELTA config limits-->
|
|
<dl_setting MAX="15.0" MIN="-15.0" STEP="0.1" VAR="guidance_control.cmd.delta" shortname="sr_delta" param="SR_GUIDANCE_DELTA"/>
|
|
</dl_settings>
|
|
<dl_settings NAME="Speed control">
|
|
<dl_setting MAX="10.0" MIN="-10.0" STEP="0.1" VAR="guidance_control.cmd.speed" shortname="sr_speed" param="SR_GUIDANCE_SPEED"/>
|
|
<dl_setting MAX="2000.0" MIN="0.0" STEP="1" VAR="guidance_control.kf" shortname="kf"/>
|
|
<dl_setting MAX="1000.0" MIN="0.0" STEP="1" VAR="guidance_control.kp" shortname="kp" handler="set_speed_pgain" module="guidance/rover_guidance_steering"/>
|
|
<dl_setting MAX="1000.0" MIN="0.0" STEP="1" VAR="guidance_control.ki" shortname="ki" handler="set_speed_igain" module="guidance/rover_guidance_steering"/>
|
|
</dl_settings>
|
|
</dl_settings>
|
|
</dl_settings>
|
|
</settings>
|
|
|
|
<dep>
|
|
<depends>@navigation</depends>
|
|
<provides>guidance,commands</provides>
|
|
</dep>
|
|
|
|
<header>
|
|
<file name="rover_guidance_steering.h"/>
|
|
</header>
|
|
|
|
<init fun="rover_guidance_steering_init()"/>
|
|
<makefile target="ap|nps" firmware="rover">
|
|
<file name="rover_guidance_steering.c" dir="$(SRC_FIRMWARE)/guidance"/>
|
|
</makefile>
|
|
|
|
</module>
|