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ackermann: deprecate RA_MISS_SPD_DEF and update airframe default params

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chfriedrich98
2024-11-11 16:40:27 +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
View File
@@ -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