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ackermann: deprecate RA_MISS_SPD_DEF and update airframe default params

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chfriedrich98
2024-11-11 16:08:57 +01:00
committed by chfriedrich98
parent 0ee580f139
commit 233963b2d5
5 changed files with 21 additions and 36 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
+7 -5
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@@ -15,14 +15,16 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default NAV_ACC_RAD 0.5
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_MAX_ACCEL 1.5
param set-default RA_MAX_DECEL 10
param set-default RA_LAT_ACCEL_I 0.01
param set-default RA_LAT_ACCEL_P 0.1
param set-default RA_MAX_ACCEL 3
param set-default RA_MAX_DECEL 6
param set-default RA_MAX_JERK 15
param set-default RA_MAX_SPEED 5
param set-default RA_MAX_THR_SPEED 6
param set-default RA_MAX_LAT_ACCEL 4
param set-default RA_MAX_SPEED 3
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_MAX_STR_RATE 360
param set-default RA_MISS_SPD_DEF 5
param set-default RA_MAX_THR_SPEED 3.1
param set-default RA_SPEED_I 0.01
param set-default RA_SPEED_P 0.1
param set-default RA_WHEEL_BASE 0.321
ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho
+10 -8
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@@ -19,16 +19,18 @@ param set-default BAT1_N_CELLS 3
param set-default NAV_ACC_RAD 0.5
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_MAX_ACCEL 0.5
param set-default RA_MAX_JERK 10
param set-default RA_MAX_SPEED 2.7
param set-default RA_LAT_ACCEL_I 0.01
param set-default RA_LAT_ACCEL_P 0.1
param set-default RA_MAX_ACCEL 1.5
param set-default RA_MAX_DECEL 10
param set-default RA_MAX_JERK 20
param set-default RA_MAX_LAT_ACCEL 3
param set-default RA_MAX_SPEED 2.5
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_MAX_STR_RATE 270
param set-default RA_MISS_VEL_DEF 2.7
param set-default RA_MISS_VEL_GAIN 3.5
param set-default RA_MISS_VEL_MIN 1
param set-default RA_SPEED_I 0.1
param set-default RA_SPEED_P 0.5
param set-default RA_MAX_THR_SPEED 2.8
param set-default RA_SPEED_I 0.01
param set-default RA_SPEED_P 0.1
param set-default RA_WHEEL_BASE 0.321
# Pure pursuit parameters
src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp
+2 -6
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@@ -204,12 +204,8 @@ void RoverAckermannGuidance::updateWaypointsAndAcceptanceRadius()
}
// Waypoint cruising speed
if (position_setpoint_triplet.current.cruising_speed > 0.f) {
_cruising_speed = math::constrain(position_setpoint_triplet.current.cruising_speed, 0.f, _param_ra_max_speed.get());
} else {
_cruising_speed = _param_ra_miss_spd_def.get();
}
_cruising_speed = position_setpoint_triplet.current.cruising_speed > 0.f ? math::constrain(
position_setpoint_triplet.current.cruising_speed, 0.f, _param_ra_max_speed.get()) : _param_ra_max_speed.get();
}
float RoverAckermannGuidance::updateAcceptanceRadius(const float waypoint_transition_angle,
src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp
-1
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@@ -204,7 +204,6 @@ private:
(ParamFloat<px4::params::RA_MAX_STR_ANG>) _param_ra_max_steer_angle,
(ParamFloat<px4::params::RA_ACC_RAD_MAX>) _param_ra_acc_rad_max,
(ParamFloat<px4::params::RA_ACC_RAD_GAIN>) _param_ra_acc_rad_gain,
(ParamFloat<px4::params::RA_MISS_SPD_DEF>) _param_ra_miss_spd_def,
(ParamFloat<px4::params::RA_SPEED_P>) _param_ra_p_speed,
(ParamFloat<px4::params::RA_SPEED_I>) _param_ra_i_speed,
(ParamFloat<px4::params::RA_MAX_SPEED>) _param_ra_max_speed,
src/modules/rover_ackermann/module.yaml
+2 -16
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@@ -57,17 +57,6 @@ parameters:
decimal: 2
default: 2
RA_MISS_SPD_DEF:
description:
short: Default rover speed during a mission
type: float
unit: m/s
min: 0
max: 100
increment: 0.01
decimal: 2
default: 2
RA_SPEED_P:
description:
short: Proportional gain for ground speed controller
@@ -122,10 +111,7 @@ parameters:
description:
short: Maximum acceleration for the rover
long: |
This is used for the acceleration slew rate, the feed-forward term
for the speed controller during missions and the corner slow down effect.
Note: For the corner slow down effect RA_MAX_JERK, RA_MISS_VEL_GAIN and
RA_MISS_VEL_MIN also have to be set.
This is used for the acceleration slew rate.
type: float
unit: m/s^2
min: -1
@@ -155,7 +141,7 @@ parameters:
long: |
Limit for forwards acc/deceleration change.
This is used for the corner slow down effect.
Note: RA_MAX_ACCEL also has to be set for this to be enabled.
Note: RA_MAX_DECEL also has to be set for this to be enabled.
type: float
unit: m/s^3
min: -1