fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-14 04:31:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

added mecanum as new rover type

Browse Source
This commit is contained in:
PerFrivik
2024-02-12 10:39:11 +01:00
parent c0162c4701
commit 2f352dafdc
1 changed files with 18 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/module.yaml
+18 -8
View File
@@ -961,14 +961,10 @@ mixer:
actuators: actuators:
- actuator_type: 'motor' - actuator_type: 'motor'
instances: instances:
- name: 'Right Motor Front' - name: 'Right Motor'
position: [ 1, 1., 0 ] position: [ 0, 1., 0 ]
- name: 'Left Motor Front' - name: 'Left Motor'
position: [ 1, -1., 0 ] position: [ 0, -1., 0 ]
- name: 'Right Motor Back'
position: [ -1, 1., 0 ]
- name: 'Left Motor Back'
position: [ -1, -1., 0 ]
7: # Motors (6DOF) 7: # Motors (6DOF)
actuators: actuators:
@@ -1144,3 +1140,17 @@ mixer:
parameters: parameters:
- label: 'Throttle spoolup time' - label: 'Throttle spoolup time'
name: COM_SPOOLUP_TIME name: COM_SPOOLUP_TIME
13: # Rover (Mecanum)
title: 'Rover (Mecanum)'
actuators:
- actuator_type: 'motor'
instances:
- name: 'Right Motor Front'
position: [ 1, 1., 0 ]
- name: 'Left Motor Front'
position: [ 1, -1., 0 ]
- name: 'Right Motor Back'
position: [ -1, 1., 0 ]
- name: 'Left Motor Back'
position: [ -1, -1., 0 ]