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Differential: Update 4011_gz_lawnmower to match recent changes in Rover controls (#25079)

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Sergei Grichine
2025-06-24 02:17:10 -05:00
committed by GitHub
parent 95119027a9
commit 256b329aab
1 changed files with 38 additions and 21 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
+38 -21
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@@ -1,51 +1,68 @@
#!/bin/sh
# @name Gazebo lawnmower
# @name Gazebo - Zero Turn Lawnmower
# @type Rover
# @class Rover
. ${R}etc/init.d/rc.rover_differential_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=lawn}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default NAV_ACC_RAD 0.5
# We can arm and drive in manual mode when it slides and GPS check fails:
param set-default COM_ARM_WO_GPS 1
# Rover parameters
# Differential Parameters
param set-default RD_WHEEL_TRACK 0.9
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_YAW_P 5
param set-default RD_YAW_I 0.1
param set-default RD_MAX_YAW_RATE 30
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
# Rover Control Parameters
param set-default RO_ACCEL_LIM 1.5
param set-default RO_DECEL_LIM 5
param set-default RO_JERK_LIM 15
param set-default RO_MAX_THR_SPEED 2.7
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.2
param set-default RO_YAW_RATE_P 1.0
param set-default RO_YAW_RATE_LIM 60
param set-default RO_YAW_ACCEL_LIM 50
param set-default RO_YAW_DECEL_LIM 1000
param set-default RO_YAW_RATE_CORR 1.0
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Velocity Control Parameters
param set-default RO_SPEED_LIM 2.1
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
param set-defatul RO_SPEED_RED 1.0
# Pure pursuit parameters
param set-default PP_LOOKAHD_MAX 30
param set-default PP_LOOKAHD_MIN 2
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
# Actuator mapping - set SITL motors/servos output parameters:
# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
#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_FAIL1 100
param set-default SIM_GZ_WH_MIN1 87
param set-default SIM_GZ_WH_MAX1 113
param set-default SIM_GZ_WH_DIS1 100
param set-default SIM_GZ_WH_FAIL1 100
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
#param set-default SIM_GZ_WH_DIS2 100
#param set-default SIM_GZ_WH_FAIL2 100
param set-default SIM_GZ_WH_MIN2 87
param set-default SIM_GZ_WH_MAX2 113
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