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Differential Rover: PR fixes

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This commit is contained in:
Matthias Grob
2023-12-21 16:27:53 +01:00
committed by Per Frivik
parent 056e41af8c
commit 3de5c609a4
35 changed files with 381 additions and 478 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover
+1 -1
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@@ -3,7 +3,7 @@
# @name Rover
#
. ${R}etc/init.d/rc.rover_ackermann_defaults
. ${R}etc/init.d/rc.rover_defaults
param set-default GND_L1_DIST 5
param set-default GND_L1_PERIOD 10
ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover
-22
View File
@@ -6,29 +6,7 @@
. ${R}etc/init.d/rc.rover_differential_defaults
param set-default GND_L1_DIST 5
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 3
param set-default GND_SPEED_I 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 4
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default CA_AIRFRAME 6
param set-default CA_R_REV 3
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 101
param set-default PWM_MAIN_FUNC6 102
param set-default PWM_MAIN_FUNC7 102
ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
+12 -29
View File
@@ -1,5 +1,4 @@
#!/bin/sh
#
# @name Aion Robotics R1 Rover
# @type Rover
# @class Rover
@@ -10,39 +9,23 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
param set-default SIM_GZ_EN 1
param set-default SIM_GZ_EN 1 # Gazebo bridge
# 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 COM_PREARM_MODE 2
# Actuator mapping
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 NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
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 GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default CA_R_REV 3
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_MIN1 0
param set-default SIM_GZ_EC_MAX1 200
param set-default SIM_GZ_EC_DIS1 100
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_MIN2 0
param set-default SIM_GZ_EC_MAX2 200
param set-default SIM_GZ_EC_DIS2 100
param set-default SIM_GZ_MT_FUNC1 101
param set-default SIM_GZ_MT_MIN1 0
param set-default SIM_GZ_MT_MAX1 200
param set-default SIM_GZ_MT_DIS1 100
param set-default SIM_GZ_MT_FUNC2 102
param set-default SIM_GZ_MT_MIN2 0
param set-default SIM_GZ_MT_MAX2 200
param set-default SIM_GZ_MT_DIS2 100
param set-default SIM_GZ_WH_REV 1 # reverse right wheel