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differential: add slew rates for setpoints, deprecate RD_MAN_YAW_SCALE and update airframe tuning

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chfriedrich98
2024-09-17 10:15:36 +02:00
committed by chfriedrich98
parent fbbfcdb7a6
commit 4f00df60ae
12 changed files with 300 additions and 125 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
+16 -15
View File
@@ -13,22 +13,23 @@ 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_MAX_ACCEL 6
param set-default RD_MAX_ACCEL 5
param set-default RD_MAX_DECEL 10
param set-default RD_MAX_JERK 30
param set-default RD_MAX_THR_YAW_R 5
param set-default RD_YAW_RATE_P 0.1
param set-default RD_YAW_RATE_I 0
param set-default RD_MAX_THR_YAW_R 1.5
param set-default RD_YAW_RATE_P 0.25
param set-default RD_YAW_RATE_I 0.01
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0
param set-default RD_MAX_SPEED 5
param set-default RD_MAX_THR_SPD 7
param set-default RD_SPEED_P 1
param set-default RD_SPEED_I 0
param set-default RD_YAW_I 0.1
param set-default RD_MAX_SPEED 2
param set-default RD_MAX_THR_SPD 2.15
param set-default RD_SPEED_P 0.1
param set-default RD_SPEED_I 0.01
param set-default RD_MAX_YAW_RATE 180
param set-default RD_MISS_SPD_DEF 5
param set-default RD_MISS_SPD_DEF 2
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
param set-default RD_MAX_YAW_ACCEL 1000
# Pure pursuit parameters
param set-default PP_LOOKAHD_MAX 30
@@ -43,13 +44,13 @@ param set-default SENS_EN_ARSPDSIM 0
# 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_MIN1 70
param set-default SIM_GZ_WH_MAX1 130
param set-default SIM_GZ_WH_DIS1 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_MIN2 70
param set-default SIM_GZ_WH_MAX2 130
param set-default SIM_GZ_WH_DIS2 100
param set-default SIM_GZ_WH_REV 1 # reverse right wheel
ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
-1
View File
@@ -21,7 +21,6 @@ param set-default COM_ARM_WO_GPS 1
# Rover parameters
param set-default RD_WHEEL_TRACK 0.9
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 1
ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
+17 -15
View File
@@ -23,22 +23,24 @@ param set-default RBCLW_REV 1 # reverse right wheels
# Rover parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAN_YAW_SCALE 1
param set-default RD_MAX_ACCEL 5
param set-default RD_MAX_JERK 10
param set-default RD_MAX_THR_YAW_R 4
param set-default RD_YAW_RATE_P 0.1
param set-default RD_YAW_RATE_I 0
param set-default RD_MAX_ACCEL 3
param set-default RD_MAX_DECEL 4
param set-default RD_MAX_JERK 5
param set-default RD_MAX_SPEED 1.6
param set-default RD_MAX_THR_SPD 1.9
param set-default RD_MAX_THR_YAW_R 0.7
param set-default RD_MAX_YAW_ACCEL 600
param set-default RD_MAX_YAW_RATE 250
param set-default RD_MISS_SPD_DEF 1.5
param set-default RD_SPEED_P 0.1
param set-default RD_SPEED_I 0.01
param set-default RD_TRANS_DRV_TRN 0.785398
param set-default RD_TRANS_TRN_DRV 0.139626
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0
param set-default RD_MAX_SPEED 1.8
param set-default RD_MAX_THR_SPD 2
param set-default RD_SPEED_P 0.5
param set-default RD_SPEED_I 0.1
param set-default RD_MAX_YAW_RATE 300
param set-default RD_MISS_SPD_DEF 1.8
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
param set-default RD_YAW_I 0.1
param set-default RD_YAW_RATE_P 0.1
param set-default RD_YAW_RATE_I 0.01
# Pure pursuit parameters
param set-default PP_LOOKAHD_MAX 10