Mecanum rover: add dedicated module for mecanum rovers (#23708)

ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum

@@ -0,0 +1,64 @@
+#!/bin/sh
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_mecanum_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Rover parameters
+param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_MAN_YAW_SCALE 0.1
+param set-default RM_YAW_RATE_I 0
+param set-default RM_YAW_RATE_P 0.01
+param set-default RM_MAX_ACCEL 3
+param set-default RM_MAX_JERK 5
+param set-default RM_MAX_SPEED 4
+param set-default RM_MAX_THR_SPD 7
+param set-default RM_MAX_THR_YAW_R 7.5
+param set-default RM_YAW_P 5
+param set-default RM_YAW_I 0.1
+param set-default RM_MAX_YAW_RATE 180
+param set-default RM_MISS_SPD_DEF 3
+param set-default RM_MISS_VEL_GAIN 1
+param set-default RM_SPEED_I 0.01
+param set-default RM_SPEED_P 0.1
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+param set-default PP_LOOKAHD_GAIN 0.5
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+# Actuator mapping
+param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_DIS1 100
+
+param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
+param set-default SIM_GZ_WH_MIN2 0
+param set-default SIM_GZ_WH_MAX2 200
+param set-default SIM_GZ_WH_DIS2 100
+
+param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
+param set-default SIM_GZ_WH_MIN3 0
+param set-default SIM_GZ_WH_MAX3 200
+param set-default SIM_GZ_WH_DIS3 100
+
+param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
+param set-default SIM_GZ_WH_MIN4 0
+param set-default SIM_GZ_WH_MAX4 200
+param set-default SIM_GZ_WH_DIS4 100
+
+param set-default SIM_GZ_WH_REV 10

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -86,6 +86,7 @@ px4_add_romfs_files(
 	4012_gz_rover_ackermann
 	4013_gz_x500_lidar
 	4014_gz_x500_mono_cam_down
+	4015_gz_r1_rover_mecanum
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -92,6 +92,13 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_MECANUM)
+	px4_add_romfs_files(
+		rc.rover_mecanum_apps
+		rc.rover_mecanum_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps

ROMFS/px4fmu_common/init.d/airframes/52000_generic_rover_mecanum

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Generic Rover Mecanum
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_mecanum_defaults

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -152,6 +152,13 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_MECANUM)
+	px4_add_romfs_files(
+		# [52000, 52999] Mecanum rovers
+		52000_generic_rover_mecanum
+	)
+endif()
+
 if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	px4_add_romfs_files(
 		# [59000, 59999] Rover position control (deprecated)

ROMFS/px4fmu_common/init.d/rc.rover_mecanum_apps

@@ -0,0 +1,8 @@
+#!/bin/sh
+# Standard apps for a mecanum drive rover.
+
+# Start rover mecanum drive controller.
+rover_mecanum start
+
+# Start Land Detector.
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_mecanum_defaults

@@ -0,0 +1,11 @@
+#!/bin/sh
+# Mecanum rover parameters.
+
+set VEHICLE_TYPE rover_mecanum
+param set-default MAV_TYPE 10     # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 13  # Rover (Mecanum)
+param set-default CA_R_REV 15     # Right and left motors reversible
+param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
+param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -50,6 +50,15 @@ then
 	. ${R}etc/init.d/rc.rover_ackermann_apps
 fi
 
+#
+# Mecanum Rover setup.
+#
+if [ $VEHICLE_TYPE = rover_mecanum ]
+then
+	# Start mecanum drive rover apps.
+	. ${R}etc/init.d/rc.rover_mecanum_apps
+fi
+
 #
 # VTOL setup.
 #