differential: restructure and update module (#23430)

* differential: rename module

* differential: restructure and update module

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -6,16 +6,36 @@
 . ${R}etc/init.d/rc.rover_differential_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.3
+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 6
+param set-default RD_MAX_JERK 30
+param set-default RD_MAX_SPEED 7
+param set-default RD_HEADING_P 5
+param set-default RD_HEADING_I 0.1
+param set-default RD_MAX_YAW_RATE 180
+param set-default RD_MISS_SPD_DEF 7
+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
+
 # Simulated sensors
 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
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -20,9 +20,9 @@ param set-default SENS_EN_ARSPDSIM 1
 param set-default COM_ARM_WO_GPS 1
 
 # Set Differential Drive Kinematics Library parameters:
-param set RDD_WHEEL_BASE 0.9
-param set RDD_WHEEL_RADIUS 0.22
-param set RDD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
+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
 
 # Actuator mapping - set SITL motors/servos output parameters:
 
@@ -41,9 +41,9 @@ param set-default SIM_GZ_WH_FUNC2 102 # left wheel
 
 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 
-# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
-# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
-# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
+# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
+# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
+# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
 # controls in practical scenarios.
 
 # Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -78,7 +78,7 @@ if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	)
 endif()
 
-if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
 		rc.rover_differential_apps
 		rc.rover_differential_defaults

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -143,7 +143,7 @@ if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	)
 endif()
 
-if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
 		50003_aion_robotics_r1_rover
 	)

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -2,7 +2,7 @@
 # Standard apps for a differential drive rover.
 
 # Start rover differential drive controller.
-differential_drive start
+rover_differential start
 
 # Start Land Detector.
 land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults

@@ -3,9 +3,8 @@
 
 set VEHICLE_TYPE rover_differential
 
-param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
-
-param set-default CA_AIRFRAME 6 # Rover (Differential)
-param set-default CA_R_REV 3 # Right and left motors reversible
-
-param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
+param set-default MAV_TYPE 10     # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 6   # Rover (Differential)
+param set-default CA_R_REV 3 	  # Right and left motors reversible
+param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
+param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not flying