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Reasonable defaults for Lawnmower SITL

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Sergei 2024-08-09 09:37:20 -05:00 committed by Daniel Agar
parent f4f93118e6
commit 1211aad9b0
2 changed files with 23 additions and 8 deletions
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27
ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
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@ -15,14 +15,29 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
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 1
param set-default SENS_EN_ARSPDSIM 0
# We can arm and drive in manual mode when it slides and GPS check fails:
param set-default COM_ARM_WO_GPS 1
# Set Differential Drive Kinematics Library parameters:
param set RD_WHEEL_BASE 0.9
param set RD_WHEEL_RADIUS 0.22
param set RD_WHEEL_SPEED 10.0 # Maximum wheel speed rad/s, approx 8 km/h
# Rover parameters
param set-default RD_WHEEL_TRACK 0.9
param set-default RD_MAN_YAW_SCALE 0.1
param set-default RD_YAW_RATE_I 0.1
param set-default RD_YAW_RATE_P 5
param set-default RD_MAX_ACCEL 1
param set-default RD_MAX_JERK 3
param set-default RD_MAX_SPEED 8
param set-default RD_HEADING_P 5
param set-default RD_HEADING_I 0.1
param set-default RD_MAX_YAW_RATE 30
param set-default RD_MISS_SPD_DEF 8
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
# Pure pursuit parameters
param set-default PP_LOOKAHD_MAX 30
param set-default PP_LOOKAHD_MIN 2
param set-default PP_LOOKAHD_GAIN 1
# Actuator mapping - set SITL motors/servos output parameters:
@ -36,7 +51,7 @@ param set-default SIM_GZ_WH_FUNC1 101 # right wheel
param set-default SIM_GZ_WH_FUNC2 102 # left wheel
#param set-default SIM_GZ_WH_MIN2 0
#param set-default SIM_GZ_WH_MAX2 200
#aram set-default SIM_GZ_WH_DIS2 100
#param set-default SIM_GZ_WH_DIS2 100
#param set-default SIM_GZ_WH_FAIL2 100
param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels

4
src/modules/rover_differential/module.yaml
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@ -155,7 +155,7 @@ parameters:
type: float
unit: rad
min: 0.001
max: 180
max: 3.14159
increment: 0.01
decimal: 3
default: 0.0872665
@ -166,7 +166,7 @@ parameters:
type: float
unit: rad
min: 0.001
max: 180
max: 3.14159
increment: 0.01
decimal: 3
default: 0.174533