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ackermann: add SIH airframe (#25405)

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chfriedrich98 2025-08-13 15:41:14 +02:00 committed by GitHub
parent a46125b135
commit 9a1845902e
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2 changed files with 70 additions and 0 deletions
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65
ROMFS/px4fmu_common/init.d/airframes/1104_standard_ackermann_sih.hil Normal file
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@ -0,0 +1,65 @@
#!/bin/sh
# @name SIH Rover Ackermann
# @type Rover
# @class Rover
. ${R}etc/init.d/rc.rover_ackermann_defaults
set VEHICLE_TYPE rover_ackermann
param set-default CA_AIRFRAME 5 # Rover (Ackermann)
param set-default CA_R_REV 1 # Motor is assumed to be reversible
param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not driving
param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_ANGERR_INIT 0.01
param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
param set-default SYS_HITL 2 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set-default HIL_ACT_FUNC1 201 # Steering
param set-default HIL_ACT_FUNC2 101 # Throttle
param set-default SIH_MASS 20
param set-default SIH_IXX 0.4333
param set-default SIH_IYY 1.6833
param set-default SIH_IZZ 2.0833
param set-default SIH_IXZ 0
param set-default SIH_KDV 50
param set-default SIH_KDW 10
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_STR_RATE_LIM 360
# Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01
param set-default RO_YAW_RATE_P 0.25
param set-default RO_YAW_RATE_LIM 180
param set-default RO_YAW_ACCEL_LIM 400
param set-default RO_YAW_DECEL_LIM 800
param set-default RO_YAW_RATE_CORR 1
# Attitude Control Parameters
param set-default RO_YAW_P 5
# Velocity Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 3
param set-default RO_JERK_LIM 10
param set-default RO_MAX_THR_SPEED 3.2
param set-default RO_SPEED_LIM 3
param set-default RO_SPEED_I 0.001
param set-default RO_SPEED_P 0.001
param set-default RO_SPEED_RED 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1

5
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
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@ -50,6 +50,11 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
1102_tailsitter_duo_sih.hil
1103_standard_vtol_sih.hil
)
if(CONFIG_MODULES_ROVER_ACKERMANN)
px4_add_romfs_files(
1104_standard_ackermann_sih.hil
)
endif()
endif()
if(CONFIG_MODULES_MC_RATE_CONTROL)