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