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docs: update ackermann sih (#25418)
* docs: update ackermann sih * Update metadata to fix broken link --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
This commit is contained in:
chfriedrich98
co-authored by
Hamish Willee
Hamish Willee
parent
2333fb2853
commit
72796a9844
@@ -1,6 +1,6 @@
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# TensorFlow Lite Micro (TFLM)
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The PX4 [Multicopter Neural Network](advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.
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The PX4 [Multicopter Neural Network](../advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.
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This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4.
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@@ -14274,14 +14274,14 @@ True airspeed measurement noise of the internal wind estimator(s) of the airspee
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### ASPD_WERR_THR (`FLOAT`) {#ASPD_WERR_THR}
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Horizontal wind uncertainty threshold for synthetic airspeed.
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Horizontal wind uncertainty threshold for valid ground-minus-wind.
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The synthetic airspeed estimate (from groundspeed and heading) will be declared valid
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The airspeed alternative derived from groundspeed and heading will be declared valid
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as soon and as long the horizontal wind uncertainty is below this value.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | 0.001 | 5 | | 0.55 | m/s |
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| | 0.01 | 5 | | 2. | m/s |
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### ASPD_WIND_NSD (`FLOAT`) {#ASPD_WIND_NSD}
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@@ -17403,10 +17403,11 @@ Each threshold value is defined by the parameter indicated next to the check. Dr
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- `7`: Horizontal speed offset (EKF2_REQ_HDRIFT)
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- `8`: Vertical speed offset (EKF2_REQ_VDRIFT)
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- `9`: Spoofing
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- `10`: GPS fix type (EKF2_REQ_FIX)
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | 0 | 1023 | | 1023 |
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| | 0 | 2047 | | 2047 |
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### EKF2_GPS_CTRL (`INT32`) {#EKF2_GPS_CTRL}
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@@ -18015,6 +18016,26 @@ Required EPV to use GPS.
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | 2 | 100 | | 5.0 | m |
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### EKF2_REQ_FIX (`INT32`) {#EKF2_REQ_FIX}
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Required GPS fix.
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Minimum GPS fix type required for GPS usage.
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**Values:**
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- `0`: No fix required
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- `2`: 2D fix
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- `3`: 3D fix
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- `4`: RTCM code differential
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- `5`: RTK float
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- `6`: RTK fixed
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- `8`: Extrapolated
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 3 |
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### EKF2_REQ_GPS_H (`FLOAT`) {#EKF2_REQ_GPS_H}
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Required GPS health time on startup.
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@@ -32577,6 +32598,334 @@ INA238 Power Monitor Shunt.
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| ------- | ----------- | -------- | ---------- | ------- | ---- |
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| ✓ | 0.000000001 | 0.1 | .000000001 | 0.0005 |
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### MS_ACCEL_RANGE (`INT32`) {#MS_ACCEL_RANGE}
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Sets the range of the accelerometer.
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-1 = Will not be configured, and will use the device default range,
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Each adjustable range has a corresponding integer setting. Refer to the device's User Manual to check the available adjustment ranges.
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https://www.hbkworld.com/en/products/transducers/inertial-sensors#!ref_microstrain.com
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | -1 |
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### MS_ALIGNMENT (`INT32`) {#MS_ALIGNMENT}
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Alignment type.
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Select the source of heading alignment
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This is a bitfield, you can use more than 1 source
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Bit 0 - Dual-antenna GNSS
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Bit 1 - GNSS kinematic (requires motion, e.g. a GNSS velocity)
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Bit 2 - Magnetometer
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Bit 3 - External Heading (first valid external heading will be used to initialize the filter)
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 2 |
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### MS_BARO_RATE_HZ (`INT32`) {#MS_BARO_RATE_HZ}
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Barometer data rate.
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Barometer data rate
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Max Limit: 1000
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0 - Disable barometer datastream
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The max limit should be divisible by the rate
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eg: 1000 % MS_BARO_RATE_HZ = 0
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 50 |
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### MS_EXT_HEAD_EN (`INT32`) {#MS_EXT_HEAD_EN}
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Toggles external heading as an aiding measurement.
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0 = Disabled,
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1 = Enabled
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If enabled, the filter will be configured to accept external heading as an aiding meaurement.
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0 |
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### MS_FILT_RATE_HZ (`INT32`) {#MS_FILT_RATE_HZ}
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EKF data Rate.
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EKF data rate
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Max Limit: 1000
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0 - Disable EKF datastream
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The max limit should be divisible by the rate
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eg: 1000 % MS_FILT_RATE_HZ = 0
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 250 |
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### MS_GNSS_AID_SRC (`INT32`) {#MS_GNSS_AID_SRC}
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GNSS aiding source control.
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Select the source of gnss aiding (GNSS/INS)
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1 = All internal receivers,
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2 = External GNSS messages,
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3 = GNSS receiver 1 only
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4 = GNSS receiver 2 only
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 1 |
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### MS_GNSS_OFF1_X (`FLOAT`) {#MS_GNSS_OFF1_X}
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GNSS lever arm offset 1 (X).
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Lever arm offset (m) in the X direction for the external GNSS receiver
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In the case of a dual antenna setup, this is antenna 1
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0.0 |
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### MS_GNSS_OFF1_Y (`FLOAT`) {#MS_GNSS_OFF1_Y}
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GNSS lever arm offset 1 (Y).
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Lever arm offset (m) in the Y direction for the external GNSS receiver
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In the case of a dual antenna setup, this is antenna 1
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0.0 |
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### MS_GNSS_OFF1_Z (`FLOAT`) {#MS_GNSS_OFF1_Z}
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GNSS lever arm offset 1 (Z).
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Lever arm offset (m) in the Z direction for the external GNSS receiver
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In the case of a dual antenna setup, this is antenna 1
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0.0 |
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### MS_GNSS_OFF2_X (`FLOAT`) {#MS_GNSS_OFF2_X}
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GNSS lever arm offset 2 (X).
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Lever arm offset (m) in the X direction for antenna 2
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This will only be used if the device supports a dual antenna setup
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0.0 |
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### MS_GNSS_OFF2_Y (`FLOAT`) {#MS_GNSS_OFF2_Y}
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GNSS lever arm offset 2 (Y).
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Lever arm offset (m) in the Y direction for antenna 2
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This will only be used if the device supports a dual antenna setup
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0.0 |
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### MS_GNSS_OFF2_Z (`FLOAT`) {#MS_GNSS_OFF2_Z}
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GNSS lever arm offset 2 (Z).
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Lever arm offset (m) in the X direction for antenna 2
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This will only be used if the device supports a dual antenna setup
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0.0 |
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### MS_GNSS_RATE_HZ (`INT32`) {#MS_GNSS_RATE_HZ}
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GNSS data Rate.
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GNSS receiver 1 and 2 data rate
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Max Limit: 5
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The max limit should be divisible by the rate
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0 - Disable GNSS datastream
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eg: 5 % MS_GNSS_RATE_HZ = 0
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 5 |
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### MS_GYRO_RANGE (`INT32`) {#MS_GYRO_RANGE}
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Sets the range of the gyro.
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-1 = Will not be configured, and will use the device default range,
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Each adjustable range has a corresponding integer setting. Refer to the device's User Manual to check the available adjustment ranges.
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https://www.hbkworld.com/en/products/transducers/inertial-sensors#!ref_microstrain.com
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | -1 |
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### MS_IMU_RATE_HZ (`INT32`) {#MS_IMU_RATE_HZ}
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IMU Data Rate.
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IMU (Accelerometer and Gyroscope) data rate
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The INS driver will be scheduled at a rate 2\*MS_IMU_RATE_HZ
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Max Limit: 1000
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0 - Disable IMU datastream
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The max limit should be divisible by the rate
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eg: 1000 % MS_IMU_RATE_HZ = 0
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 500 |
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### MS_INT_HEAD_EN (`INT32`) {#MS_INT_HEAD_EN}
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Toggles internal heading as an aiding measurement.
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0 = Disabled,
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1 = Enabled
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If dual antennas are supported (CV7-GNSS/INS). The filter will be configured to use dual antenna heading as an aiding measurement.
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0 |
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### MS_INT_MAG_EN (`INT32`) {#MS_INT_MAG_EN}
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Toggles internal magnetometer aiding in the device filter.
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0 = Disabled,
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1 = Enabled
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0 |
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### MS_MAG_RATE_HZ (`INT32`) {#MS_MAG_RATE_HZ}
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Magnetometer Data Rate.
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Magnetometer data rate
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Max Limit: 1000
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0 - Disable magnetometer datastream
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The max limit should be divisible by the rate
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eg: 1000 % MS_MAG_RATE_HZ = 0
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 50 |
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### MS_MODE (`INT32`) {#MS_MODE}
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Toggles using the device as the primary EKF.
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Setting to 1 will publish data from the device to the vehicle topics (global_position, attitude, local_position, odometry), estimator_status and sensor_selection
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Setting to 0 will publish data from the device to the external_ins topics (global position, attitude, local position)
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Restart Required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 1 |
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### MS_SENSOR_PTCH (`FLOAT`) {#MS_SENSOR_PTCH}
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Sensor to Vehicle Transform (Pitch).
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The orientation of the device (Radians) with respect to the vehicle frame around the y axis
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Requires MS_SVT_EN to be enabled to be used
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0.0 |
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### MS_SENSOR_ROLL (`FLOAT`) {#MS_SENSOR_ROLL}
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Sensor to Vehicle Transform (Roll).
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The orientation of the device (Radians) with respect to the vehicle frame around the x axis
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Requires MS_SVT_EN to be enabled to be used
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0.0 |
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### MS_SENSOR_YAW (`FLOAT`) {#MS_SENSOR_YAW}
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Sensor to Vehicle Transform (Yaw).
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The orientation of the device (Radians) with respect to the vehicle frame around the z axis
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Requires MS_SVT_EN to be enabled to be used
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0.0 |
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### MS_SVT_EN (`INT32`) {#MS_SVT_EN}
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Enables sensor to vehicle transform.
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0 = Disabled,
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1 = Enabled
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If the sensor has a different orientation with respect to the vehicle. This will enable a transform to correct itself.
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The transform is described by MS_SENSOR_ROLL, MS_SENSOR_PITCH, MS_SENSOR_YAW
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Restart required
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This parameter is specific to the MicroStrain driver.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 0 |
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### PCF8583_MAGNET (`INT32`) {#PCF8583_MAGNET}
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PCF8583 rotorfreq (i2c) pulse count.
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@@ -595,6 +595,10 @@ div.frame_variant td, div.frame_variant th {
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<tr><th>Name</th><th></th></tr>
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</thead>
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<tbody>
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<tr id="rover_rover_sih_rover_ackermann">
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<td>SIH Rover Ackermann</td>
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<td>Maintainer: John Doe <john@example.com><p><code>SYS_AUTOSTART</code> = 1104</p></td>
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</tr>
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<tr id="rover_rover_generic_rover_differential">
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<td>Generic Rover Differential</td>
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<td>Maintainer: John Doe <john@example.com><p><code>SYS_AUTOSTART</code> = 50000</p></td>
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@@ -1,12 +1,11 @@
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# Modules Reference: Communication
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## frsky_telemetry
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Source: [drivers/telemetry/frsky_telemetry](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/frsky_telemetry)
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FrSky Telemetry support. Auto-detects D or S.PORT protocol.
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### Usage {#frsky_telemetry_usage}
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```
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@@ -30,8 +29,8 @@ frsky_telemetry <command> [arguments...]
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Source: [modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink)
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### Description
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This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection.
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It communicates with the system via uORB: some messages are directly handled in the module (eg. mission
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protocol), others are published via uORB (eg. vehicle_command).
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@@ -43,6 +42,7 @@ For a running instance, streams can be configured via `mavlink stream` command.
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There can be multiple independent instances of the module, each connected to one serial device or network port.
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|
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### Implementation
|
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|
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The implementation uses 2 threads, a sending and a receiving thread. The sender runs at a fixed rate and dynamically
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reduces the rates of the streams if the combined bandwidth is higher than the configured rate (`-r`) or the
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physical link becomes saturated. This can be checked with `mavlink status`, see if `rate mult` is less than 1.
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@@ -51,12 +51,15 @@ physical link becomes saturated. This can be checked with `mavlink status`, see
|
||||
functionality, this needs to be take into account, in order to avoid race conditions and corrupt data.
|
||||
|
||||
### Examples
|
||||
|
||||
Start mavlink on ttyS1 serial with baudrate 921600 and maximum sending rate of 80kB/s:
|
||||
|
||||
```
|
||||
mavlink start -d /dev/ttyS1 -b 921600 -m onboard -r 80000
|
||||
```
|
||||
|
||||
Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz:
|
||||
|
||||
```
|
||||
mavlink start -u 14556 -r 1000000
|
||||
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
|
||||
@@ -83,7 +86,8 @@ mavlink <command> [arguments...]
|
||||
default: 127.0.0.1
|
||||
[-m <val>] Mode: sets default streams and rates
|
||||
values: custom|camera|onboard|osd|magic|config|iridium|minimal|
|
||||
extvision|extvisionmin|gimbal|uavionix, default: normal
|
||||
extvision|extvisionmin|gimbal|onboard_low_bandwidth|uavionix|lo
|
||||
w_bandwidth|distance_sensor, default: normal
|
||||
[-n <val>] wifi/ethernet interface name
|
||||
values: <interface_name>
|
||||
[-c <val>] Multicast address (multicasting can be enabled via
|
||||
@@ -123,11 +127,12 @@ mavlink <command> [arguments...]
|
||||
|
||||
Source: [systemcmds/uorb](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/uorb)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
uORB is the internal pub-sub messaging system, used for communication between modules.
|
||||
|
||||
### Implementation
|
||||
|
||||
The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa.
|
||||
This is achieved by having a separate buffer between a publisher and a subscriber.
|
||||
|
||||
@@ -139,7 +144,9 @@ If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can
|
||||
modules are allowed to publish which topics. This is used for system-wide replay.
|
||||
|
||||
### Examples
|
||||
|
||||
Monitor topic publication rates. Besides `top`, this is an important command for general system inspection:
|
||||
|
||||
```
|
||||
uorb top
|
||||
```
|
||||
|
||||
@@ -198,7 +198,7 @@ It takes in 15 input values and outputs 4 control actions.
|
||||
Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)]
|
||||
Outputs: [Actuator motors(4)]
|
||||
|
||||
### Usage {#mc-nn-control_usage}
|
||||
### Usage {#mc_nn_control_usage}
|
||||
|
||||
```
|
||||
mc_nn_control <command> [arguments...]
|
||||
|
||||
@@ -124,7 +124,7 @@ make px4_fmu-v6x boardconfig
|
||||
After uploading, check that the required modules are present.
|
||||
|
||||
::: note
|
||||
To use rover in SIH you must also add the [rover modules](../config_rover/index.md#flashing-the-rover-build) to your board configuration or use the rover build.
|
||||
To use rover in SIH you must use the [rover build](../config_rover/index.md#flashing-the-rover-build) or add the rover modules to your board configuration.
|
||||
:::
|
||||
|
||||
## Starting SIH
|
||||
@@ -139,7 +139,7 @@ To set up/start SIH:
|
||||
- [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
|
||||
- [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
|
||||
- [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
|
||||
- **SIH Ackermann Rover** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
|
||||
- [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)
|
||||
|
||||
The autopilot will then reboot.
|
||||
The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map.
|
||||
|
||||
Reference in New Issue
Block a user