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differential: add individual parameters for speed and yaw rate feedforward

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chfriedrich98
2024-09-11 13:57:27 +02:00
committed by chfriedrich98
parent 5d8a107925
commit 741ea6b707
8 changed files with 66 additions and 33 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
+3 -2
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@@ -16,11 +16,12 @@ 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_JERK 30
param set-default RD_MAX_SPEED 7
param set-default RD_YAW_RATE_P 5
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_YAW_P 5
param set-default RD_YAW_I 0
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_MAX_YAW_RATE 180
ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
+3 -2
View File
@@ -25,12 +25,13 @@ param set-default RBCLW_REV 1 # reverse right wheels
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 50
param set-default RD_MAX_SPEED 2
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_YAW_P 5
param set-default RD_YAW_I 0
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