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

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chfriedrich98
2024-11-11 14:44:10 +01:00
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/airframes/50001_aion_robotics_r1_rover
+17 -15
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@@ -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