fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 14:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

ackermann: refactor code architecture

Browse Source
This commit is contained in:
chfriedrich98
2025-02-10 15:54:24 +01:00
committed by Silvan Fuhrer
parent ce64263ce7
commit 55f51d7e7e
40 changed files with 2418 additions and 1337 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
+23 -13
View File
@@ -11,23 +11,33 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_LAT_ACCEL_I 0.01
param set-default RA_LAT_ACCEL_P 0.1
param set-default RA_MAX_ACCEL 3
param set-default RA_MAX_DECEL 6
param set-default RA_MAX_JERK 15
param set-default RA_MAX_LAT_ACCEL 4
param set-default RA_MAX_SPEED 3
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_MAX_STR_RATE 360
param set-default RA_MAX_THR_SPEED 3.1
param set-default RA_SPEED_I 0.01
param set-default RA_SPEED_P 0.1
param set-default RA_WHEEL_BASE 0.321
param set-default RA_STR_RATE_LIM 360
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 6
param set-default RO_JERK_LIM 15
param set-default RO_MAX_THR_SPEED 3.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 1
param set-default RO_YAW_RATE_LIM 180
# Rover Attitude Control Parameters
param set-default RO_YAW_P 3
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 3
param set-default RO_SPEED_I 0.1
param set-default RO_SPEED_P 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho
+23 -14
View File
@@ -14,24 +14,33 @@
. ${R}etc/init.d/rc.rover_ackermann_defaults
param set-default BAT1_N_CELLS 3
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_LAT_ACCEL_I 0.01
param set-default RA_LAT_ACCEL_P 0.1
param set-default RA_MAX_ACCEL 1.5
param set-default RA_MAX_DECEL 10
param set-default RA_MAX_JERK 20
param set-default RA_MAX_LAT_ACCEL 3
param set-default RA_MAX_SPEED 2.5
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_MAX_STR_RATE 270
param set-default RA_MAX_THR_SPEED 2.8
param set-default RA_SPEED_I 0.01
param set-default RA_SPEED_P 0.1
param set-default RA_WHEEL_BASE 0.321
param set-default RA_STR_RATE_LIM 270
# Rover Control Parameters
param set-default RO_ACCEL_LIM 1.5
param set-default RO_DECEL_LIM 10
param set-default RO_JERK_LIM 20
param set-default RO_MAX_THR_SPEED 2.8
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0
param set-default RO_YAW_RATE_P 0
param set-default RO_YAW_RATE_LIM 0
# Rover Attitude Control Parameters
param set-default RO_YAW_P 0
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 2.5
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
# Pure pursuit parameters
param set-default PP_LOOKAHD_GAIN 1