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---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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2025-03-13 16:08:27 +11:00
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docs/en/frames_rover/ackermann.md
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# Ackermann Rovers
<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
An _Ackermann rover_ controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates.
This kind of steering is used on most commercial vehicles, including cars, trucks etc.
::: info
PX4 does not require that the vehicle uses the Ackermann geometry and will work with any front-steering rover.
:::
![Axial Trail Honcho](../../assets/airframes/rover/rover_ackermann/axial_trail_honcho.png)
See [Configuration/Tuning](../config_rover/ackermann.md) to set up your rover and [Drive Modes](../flight_modes_rover/ackermann.md) for the supported flight (aka drive) modes.
docs/en/frames_rover/aion_r1.md
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# Aion Robotics R1 UGV
<Badge type="tip" text="PX4 v1.15" />
The [Aion R1](https://www.aionrobotics.com/) vehicle was chosen to test and improve the differential drive support for PX4, and to improve driver support for Roboclaw Motor Controllers, such as the [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html).
The documentation and driver information here should also make it easier to work with Roboclaw controllers on other vehicles, and to work with vehicles like the [Aion R6](https://www.aionrobotics.com/r6).
Currently, PX4 supports MANUAL mode for this setup.
![Aion Robotics R1 UGV](../../assets/airframes/rover/aion_r1/r1_rover_no_bg.png)
## Parts List
- [Aion R1 (Discontinued)](https://www.aionrobotics.com/)
- [Documentation](https://github-docs.readthedocs.io/en/latest/r1-ugv.html)
- [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html)
- [R1 Roboclaw specifications](https://resources.basicmicro.com/aion-robotics-r1-autonomous-robot/)
- [Auterion Skynode](../companion_computer/auterion_skynode.md)
## Assembly
The assembly consists of a 3D-printed frame on which all the autopilot parts were attached.
For this build this includes an [Auterion Skynode](../companion_computer/auterion_skynode.md), connected to a Pixhawk Adapter Board that interfaces with the RoboClaw motor controllers over serial.
![R1 Assembly](../../assets/airframes/rover/aion_r1/r1_assembly.png)
::: info
If using a standard Pixhawk you could connect the RoboClaw to the Autopilot without an Adapter Board.
:::
The RoboClaw should be connected to a suitable suitable serial (UART) port on the flight controller, such as `GPS2` or `TELEM1`.
Other RoboClaw wiring is detailed in the [RoboClaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf) 'Packet Serial Wiring' section and shown below (this setup has been validated for compatibility).
![Serial Wiring Encoders](../../assets/airframes/rover/aion_r1/wiring_r1.jpg)
## PX4 Configuration
### Rover Configuration
Use _QGroundControl_ for rover configuration:
1. In the [Basic Configuration](../config/index.md) section, select the [Airframe](../config/airframe.md) tab.
1. Choose **Aion Robotics R1 UGV** under the **Rover** category.
![Select Airframe](../../assets/airframes/rover/aion_r1/r1_airframe.png)
### RoboClaw Configuration
First configure the serial connection:
1. Navigate to the [Parameters](../advanced_config/parameters.md) section in QGroundControl.
- Set the [RBCLW_SER_CFG](../advanced_config/parameter_reference.md#RBCLW_SER_CFG) parameter to the serial port to which the RoboClaw is connected (such as `GPS2`).
- [RBCLW_COUNTS_REV](../advanced_config/parameter_reference.md#RBCLW_COUNTS_REV) specifies the number of encoder counts required for one wheel revolution.
This value should be left at `1200` for the tested `RoboClaw 2x15A Motor Controller`.
Adjust the value based on your specific encoder and wheel setup.
- RoboClaw motor controllers must be assigned a unique address on the bus.
The default address is 128 and you should not need to change this (if you do, update the PX4 parameter [RBCLW_ADDRESS](../advanced_config/parameter_reference.md#RBCLW_ADDRESS) to match).
::: info
PX4 does not support multiple RoboClaw motor controllers in the same vehicle — each controller needs a unique address on the bus, and there is only one parameter for setting the address in PX4 (`RBCLW_ADDRESS`).
:::
Then configure the actuator configuration:
1. Navigate to [Actuators Configuration & Testing](../config/actuators.md) in QGroundControl.
1. Select the RoboClaw driver from the list of _Actuator Outputs_.
For the channel assignments, disarm, minimum, and maximum values, please refer to the image below.
![RoboClaw QGC](../../assets/airframes/rover/aion_r1/roboclaw_actuator_config_qgc.png)
For systems with more than two motors, it is possible to assign the same function to several motors.
The reason for the unusual values, can be found in the [RoboClaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf) under `Compatibility Commands` for `Packet Serial`:
```plain
Drive motor forward. Valid data range is 0 - 127. A value of 127 = full speed forward, 64 =
about half speed forward and 0 = full stop.
```
## See also
- [roboclaw](../modules/modules_driver.md#roboclaw) driver
- [Roboclaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf)
docs/en/frames_rover/differential.md
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# Differential Rovers
<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
A differential rover's motion is controlled using a differential drive mechanism, where the left and right wheel speeds are adjusted independently to achieve the desired forward speed and yaw rate.
Forward motion is achieved by driving both wheels at the same speed in the same direction.
Rotation is achieved by driving the wheels at different speeds in opposite directions, allowing the rover to turn on the spot.
![Aion R1](../../assets/airframes/rover/aion_r1/r1_rover_no_bg.png)
See [Configuration/Tuning](../config_rover/differential.md) to set up your rover and [Drive Modes](../flight_modes_rover/differential.md) for the supported flight (aka drive) modes.
docs/en/frames_rover/index.md
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# Rovers
<LinkedBadge type="warning" text="Experimental" url="../airframes/#experimental-vehicles"/>
:::warning
Support for rover is [experimental](../airframes/index.md#experimental-vehicles).
Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome!
:::
![Rovers](../../assets/airframes/rover/rovers.png)
PX4 supports the following rover types:
| Rover Type | Steering |
| --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [**Ackermann**](../frames_rover/ackermann.md) | Direction is controlled by pointing wheels in the direction of travel. This kind of steering is used on most commercial vehicles, including cars, trucks etc. |
| [**Differential**](../frames_rover/differential.md) | Direction is controlled by moving the left- and right-side wheels at different speeds (also know as skid or tank steering). |
| [**Mecanum**](../frames_rover/mecanum.md) | Direction is controlled by moving each mecanum wheel individually at different speeds and in different directions. |
The supported frames can be seen in [Airframes Reference > Rover](../airframes/airframe_reference.md#rover).
## Flashing the Rover Build
Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build:
1. First build the rover firmware for your flight controller from the `main` branch (there is no release build, so you can't just select this build from QGroundControl).
To build for rover with the `make` command, replace the `_default` suffix with `_rover`.
For example, to build rover for px4_fmu-v6x boards, you would use the command:
```sh
make px4_fmu-v6x_rover
```
::: info
You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
```sh
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
CONFIG_MODULES_ROVER_MECANUM=y
```
Note that adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
:::
2. Load the **custom firmware** that you just built onto your flight controller (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
## Simulation
[Gazebo](../sim_gazebo_gz/index.md) provides simulations for ackermann and differential rovers:
- [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)
- [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover)
![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png)
docs/en/frames_rover/mecanum.md
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# Mecanum Rovers
<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first.
Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place.
![Mecanum rover](../../assets/airframes/rover/rover_mecanum/rover_mecanum.png)
See [Configuration/Tuning](../config_rover/mecanum.md) to set up your rover and [Drive Modes](../flight_modes_rover/mecanum.md) for the supported flight (aka drive) modes.
docs/en/frames_rover/rover_position_control.md
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# (Deprecated) Rover Position Control
<LinkedBadge type="warning" text="Experimental" url="../airframes/#experimental-vehicles"/>
::: warning
This information applies to the original generic rover module that was derived from the fixed wing controller.
It has been replaced with new modules for [Ackermann](../frames_rover/ackermann.md) and [Differential-steering](../frames_rover/differential.md) rovers.
This module is no longer supported and will receive no updates.
:::
PX4 supports rovers (Unmanned Ground Vehicles - UGVs) with [ackermann and differential](#rover-types) steering.
This section contains build logs/instructions for assembling as well as configuring a number of UGV frames.
![Traxxas Rover Picture](../../assets/airframes/rover/traxxas_stampede_vxl/final_side.jpg)
## Rover Types
PX4 supports rovers with:
- **Differential steering**: direction is controlled by moving the left- and right-side wheels at different speeds.
This kind of steering commonly used on bulldozers, tanks, and other tracked vehicles.
- **Ackermann steering**: direction is controlled by pointing wheels in the direction of travel ([ackermann geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates).
This kind of steering is used on most commercial vehicles, including cars, trucks etc.
The supported frames can be seen in [Airframes Reference > Rover](../airframes/airframe_reference.md#rover): these are the frames like _Generic Ground Vehicle (Deprecated)_ that include "(Deprecated)" in their name.
## How to Configure a Rover
### Ackermann Steering Configuration
Setting up a rover with Ackermann steering is straightforward:
1. In the [Airframe](../config/airframe.md) configuration, select the _Generic Ground Vehicle (Deprecated)_.
![Select Ackermann steered airframe](../../assets/config/airframe/airframe_rover_ackermann.png)
Select the **Apply and Restart** button.
1. Open the [Actuators Configuration & Testing](../config/actuators.md) to map the steering and throttle functions to flight controller outputs.
### Differential Steering Configuration
1. In the [Airframe](../config/airframe.md) configuration, select either the _Aion Robotics R1 UGV_ or _NXP Cup car: DF Robot GPX (Deprecated)_
![Select Differential steered airframe](../../assets/config/airframe/airframe_rover_aion.png)
Select the **Apply and Restart** button.
1. Open the [Actuators Configuration & Testing](../config/actuators.md) and map the left and right motor functions to flight controller outputs.
## Simulation
[Gazebo Classic](../sim_gazebo_classic/index.md) provides simulations for both types of steering:
- Ackermann: [ackermann rover](../sim_gazebo_classic/vehicles.md#ackermann-ugv)
- Differential: [r1 rover](../sim_gazebo_classic/vehicles.md#differential-ugv)
## Drive Modes (Rover)
Flight modes (or more accurately "Drive modes" for ground vehicles) provide autopilot support to make it easier to manually drive the vehicle, to execute autonomous missions, or to defer control to an external system.
PX4 ground vehicles using the deprecated rover position control module only support [manual mode](#manual-mode), [mission mode](#mission-mode) and [offboard mode](#offboard-mode) (other modes may be offered in a ground station, but these all behave just like manual mode).
### Manual Mode
_Manual mode_ is the only manual mode for ground vehicles on PX4, and requires a manual controller (RC controller, gamepad, joystick etc.).
In this mode, motors are stopped when RC control sticks are centered.
To move the vehicle you move the sticks outside of the center.
As soon as you release the control sticks they will return to the center deadzone.
This will turn off the motors and center the wheels.
There is no active braking, so the vehicle may continue to move until its momentum dissipates.
### Mission Mode
_Mission mode_ is an automatic mode that causes the vehicle to execute a predefined autonomous [mission](../flying/missions.md) plan that has been uploaded to the flight controller.
The mission is typically created and uploaded with a Ground Control Station (GCS) application, such as [QGroundControl](https://docs.qgroundcontrol.com/master/en/).
### Offboard Mode
[Offboard mode](../flight_modes/offboard.md) causes the vehicle to obey position, velocity, or attitude, setpoints provided over MAVLink.
Not all setpoint types make sense for a ground vehicle, or are supported.
::: info
This mode is intended for vehicle control from companion computers and ground stations!
:::
## Further Information
- [Basic Configuration > Flight Modes](../config/flight_mode.md) - How to map RC control switches to specific flight modes
- [Flight Modes (Multicopter)](../flight_modes_mc/index.md)
- [Flight Modes (Fixed-wing)](../flight_modes_fw/index.md)
- [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
## Traxxas Stampede VXL
This vehicle was chosen to understand how a Pixhawk could be used for wheeled platforms.
We chose to use a Traxxas vehicle as they are very popular and it is a very strong brand in the RC community.
The idea was to develop a platform that allows for easy control of wheeled UGVs with an autopilot.
![Traxxas Stampede VXL](../../assets/airframes/rover/traxxas_stampede_vxl/stampede.jpg)
### Parts List
- [Traxxas Stampede](https://traxxas.com/products/models/electric/stampede-vxl-tsm) All of this is used except for the top plastic cover.
- [Pixhawk Mini (Discontinued)](../flight_controller/pixhawk_mini.md)
- 3DR 10S Power Module
- 3DR 433MHz Telemetry Module (EU)
- [Spektrum Dxe Controller](http://www.spektrumrc.com/Products/Default.aspx?ProdId=SPM1000) or other PX4-compatible remotes
- [Spektrum Quad Race Serial Receiver w/Diversity](http://www.spektrumrc.com/Products/Default.aspx?ProdID=SPM4648)
- [PX4Flow](../sensor/px4flow.md) (Deprecated)
### Assembly
The assembly consists of a wooden frame on which all the autopilot parts were attached.
Tests showed that a better vibration insulation should be used, especially for the Pixhawk and the Flow module.
![Stampede Chassis](../../assets/airframes/rover/traxxas_stampede_vxl/stampede_chassis.jpg)
![Wooden Panel Top](../../assets/airframes/rover/traxxas_stampede_vxl/panel_top.jpg)
![Wooden Panel Bottom](../../assets/airframes/rover/traxxas_stampede_vxl/panel_bottom.jpg)
![Traxxas Stampede Final Assembly](../../assets/airframes/rover/traxxas_stampede_vxl/final_assembly.jpg)
![Side View Final Assembly](../../assets/airframes/rover/traxxas_stampede_vxl/final_side.jpg)
![Wodden panel fixture](../../assets/airframes/rover/traxxas_stampede_vxl/mounting_detail.jpg)
For this particular mounting we chose to use the clip supplied with the rover to attach the upper plate.
For this, two supports were 3D printed.
The CAD files are provided [here](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/rover/traxxas_stampede_vxl/plane_holders.zip).
::: warning
It is **HIGHLY RECOMMENDED** to set the ESC in training mode (see Traxxas Stampede Manual), which reduces power to 50%.
:::
### Output Connections
| PWM Output | Actuator |
| ---------- | -------------------- |
| MAIN2 | Steering servo |
| MAIN4 | Throttle (ESC input) |
### Configuration
Rovers are configured using _QGroundControl_ in the same way as any other vehicle.
The main rover-specific configuration is setting the correct frame:
1. Switch to the [Basic Configuration](../config/index.md) section in _QGroundControl_
1. Select the [Airframe](../config/airframe.md) tab.
1. Scroll down the list to find the **Rover** icon.
1. Choose **Traxxas stampede vxl 2wd** from the drop down list.
![Select Airframe](../../assets/airframes/rover/traxxas_stampede_vxl/airframe_px4_rover_traxxas_stampede_vxl_2wd.jpg)
### Usage
At the current time, PX4 only supports Mission and Manual modes when a RC remote is connected.
To use the mission mode, first upload a new mission to the vehicle with QGC. Then, BEFORE ARMING, select `MISSION` and then arm.
:::warning
It is very important to do a mission composed \*only** of normal waypoints (i.e. no takeoff waypoints etc.) and it is crucial to set the waypoint height of **every\*\* waypoint to 0 for correct execution.
Failing to do so will cause the rover to continuously spin around a waypoint.
:::
A correct mission setup looks as follows:
![mission](../../assets/airframes/rover/traxxas_stampede_vxl/correct_mission.jpg)
## Video
<iframe width="740" height="416" src="https://www.youtube.com/embed/N3HvSKS3nCw" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>