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Add rate controller for rover controls

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This commit is contained in:
Jaeyoung Lim
2022-12-12 17:23:54 +01:00
parent b3cebc6686
commit 0e583e861d
14 changed files with 248 additions and 47 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
-1
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@@ -25,7 +25,6 @@ param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default CA_AIRFRAME 5
ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
-1
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@@ -25,7 +25,6 @@ param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default CA_AIRFRAME 6
ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
-1
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@@ -32,7 +32,6 @@ param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 3.0
param set-default CA_AIRFRAME 5
ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
+7 -3
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@@ -13,19 +13,23 @@ param set-default GND_SPEED_I 8
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 2
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 1
param set-default GND_SPEED_TRIM 3
param set-default GND_THR_CRUISE 0.85
param set-default GND_THR_MAX 1
param set-default GND_THR_MIN 0
param set-default GND_RATE_P 0.08
param set-default GND_RATE_D 0.02
param set-default GND_RATE_FF 0.0
param set-default GND_RATE_I 0.0
param set-default GND_RATE_MAX 0.5
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default CA_AIRFRAME 9
ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
-1
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@@ -34,7 +34,6 @@ param set-default GND_THR_MAX 0.5
# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
param set-default GND_MAX_ANG 1.042
param set-default GND_WHEEL_BASE 0.17
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# to support negative throttle.