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mecanum: refactor code architecture

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chfriedrich98
2025-02-17 11:56:05 +01:00
committed by chfriedrich98
parent d602b569b1
commit 7c63468e8b
24 changed files with 1634 additions and 1400 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum
+29 -19
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@@ -11,28 +11,38 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default RM_WHEEL_TRACK 0.3
param set-default RM_YAW_RATE_I 0.1
param set-default RM_YAW_RATE_P 0.1
param set-default RM_MAX_ACCEL 3
param set-default RM_MAX_DECEL 5
param set-default RM_MAX_JERK 5
param set-default RM_MAX_SPEED 2
param set-default RM_MAX_THR_SPD 2.2
param set-default RM_MAX_THR_YAW_R 1.2
param set-default RM_YAW_P 5
param set-default RM_YAW_I 0.1
param set-default RM_MAX_YAW_RATE 120
param set-default RM_MAX_YAW_ACCEL 240
param set-default RM_MISS_VEL_GAIN 1
param set-default RM_SPEED_I 0.01
param set-default RM_SPEED_P 0.1
param set-default NAV_ACC_RAD 0.5
# Pure pursuit parameters
# Mecanum Parameters
param set-default RM_WHEEL_TRACK 0.3
param set-default RM_MAX_THR_YAW_R 1.2
param set-default RM_MISS_SPD_GAIN 1
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 5
param set-default RO_JERK_LIM 30
param set-default RO_MAX_THR_SPEED 2.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 120
param set-default RO_YAW_ACCEL_LIM 240
param set-default RO_YAW_DECEL_LIM 1000
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 2
param set-default RO_SPEED_I 0.5
param set-default RO_SPEED_P 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 0.5
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
param set-default PP_LOOKAHD_GAIN 0.5
# Simulated sensors
param set-default SENS_EN_GPSSIM 1