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differential: restructure and update module (#23430)

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* differential: rename module

* differential: restructure and update module
This commit is contained in:
chfriedrich98
2024-08-07 09:53:37 +02:00
committed by GitHub
parent bfcd4564a6
commit 33d99a13e8
40 changed files with 906 additions and 1244 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
+22 -2
View File
@@ -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
+6 -6
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@@ -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):