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Add rate controller for rover

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This commit adds the rover rate controller for rover
This commit is contained in:
Jaeyoung Lim
2023-08-15 14:39:14 +02:00
parent b21ad6af14
commit 840d76ef5f
9 changed files with 247 additions and 46 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover
-1
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@@ -22,7 +22,6 @@ param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default CA_AIRFRAME 5
ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover
-1
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@@ -22,7 +22,6 @@ param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default CA_AIRFRAME 6
ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1
-1
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@@ -29,7 +29,6 @@ param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 3.0
param set-default CA_AIRFRAME 5
ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat
+7 -3
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@@ -13,16 +13,20 @@ param set-default GND_SPEED_I 8
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 2
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 1
param set-default GND_SPEED_TRIM 3
param set-default GND_THR_CRUISE 0.85
param set-default GND_THR_MAX 1
param set-default GND_THR_MIN 0
param set-default GND_RATE_P 0.08
param set-default GND_RATE_D 0.02
param set-default GND_RATE_FF 0.0
param set-default GND_RATE_I 0.0
param set-default GND_RATE_MAX 0.5
param set-default NAV_ACC_RAD 0.5
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 2
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default CA_AIRFRAME 9
ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
-1
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@@ -34,7 +34,6 @@ param set-default GND_THR_MAX 0.5
# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
param set-default GND_MAX_ANG 1.042
param set-default GND_WHEEL_BASE 0.17
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# to support negative throttle.