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Hamish Willee
2025-06-25 13:03:46 +10:00
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docs/en/config_rover/basic_setup.md
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# Basic Setup
## Configure the rover frame and outputs:
## Configure the rover frame and outputs
1. Enable Rover support by flashing the [PX4 rover build](../config_rover/index.md#flashing-the-rover-build) onto your flight controller.
Note that this is a special build that contains rover-specific modules.
1. Enable Rover support by flashing the [PX4 rover build](../config_rover/index.md#flashing-the-rover-build) onto your flight controller.
Note that this is a special build that contains rover-specific modules.
2. In the [Airframe](../config/airframe.md) configuration select the your rover type: _Generic Rover Ackermann_/_Generic Rover Differential_/_Generic Rover Mecanum_:
2. In the [Airframe](../config/airframe.md) configuration select the your rover type: _Generic Rover Ackermann_/_Generic Rover Differential_/_Generic Rover Mecanum_:
![QGC screenshot showing selection of the airframe 'Generic ackermann rover'](../../assets/config/airframe/airframe_generic_rover_ackermann.png)
![QGC screenshot showing selection of the airframe 'Generic ackermann rover'](../../assets/config/airframe/airframe_generic_rover_ackermann.png)
Select the **Apply and Restart** button.
Select the **Apply and Restart** button.
::: info
If this airframe is not displayed and you have checked that you are using rover firmware (not the default), you can alternatively enable this frame by setting the [SYS_AUTOSTART](../advanced_config/parameter_reference.md#SYS_AUTOSTART) parameter directly to the following value:
::: info
If this airframe is not displayed and you have checked that you are using rover firmware (not the default), you can alternatively enable this frame by setting the [SYS_AUTOSTART](../advanced_config/parameter_reference.md#SYS_AUTOSTART) parameter directly to the following value:
| Rover Type | Value |
| ------------ | ------- |
| Ackermann | `51000` |
| Differential | `50000` |
| Mecanum | `52000` |
:::
| Rover Type | Value |
| ------------ | ------- |
| Ackermann | `51000` |
| Differential | `50000` |
| Mecanum | `52000` |
3. Open the [Actuators Configuration & Testing](../config/actuators.md) to map the motor/servo functions to flight controller outputs.
:::
This already covers the minimum setup required to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).
3. Open the [Actuators Configuration & Testing](../config/actuators.md) to map the motor/servo functions to flight controller outputs.
This mode is also affected by (optional) acceleration/deceleration limits.
As configuration of these limits becomes mandatory later, we do this setup here.
That is the minimum setup to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).
Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and set the following parameters:
## Geometric Parameters
## Geometric Paramters
The geometric parameters are dependant on your rover type:
Manual mode is also affected by (optional) acceleration/deceleration limits set using the geometric described below.
These limits are mandatory for all other modes.
![Geometric parameters](../../assets/config/rover/geometric_parameters.png)
Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and set the parameters in the group for your frame type.
### Ackermann
1. [RA_WHEEL_BASE](#RA_WHEEL_BASE) [m]: Measure the distance from the back to the front wheels.
1. [RA_MAX_STR_ANG](#RA_MAX_STR_ANG) [deg]: Measure the maximum steering angle.
1. (Optional) [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) [deg/s]: Maximum steering rate you want to allow for your rover.
2. [RA_MAX_STR_ANG](#RA_MAX_STR_ANG) [deg]: Measure the maximum steering angle.
3. (Optional) [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) [deg/s]: Maximum steering rate you want to allow for your rover.
:::tip
This value depends on your rover and use case.
@@ -53,9 +54,11 @@ The geometric parameters are dependant on your rover type:
:::
### Differential
1. [RD_WHEEL_TRACK](#RD_WHEEL_TRACK) [m]: Measure the distance from the centre of the right wheel to the centre of the left wheel.
### Mecanum
1. [RM_WHEEL_TRACK](#RM_WHEEL_TRACK) [m]: Measure the distance from the centre of the right wheel to the centre of the left wheel.
## Speed Parameters
@@ -67,7 +70,7 @@ The geometric parameters are dependant on your rover type:
It will be further adjusted in the [velocity tuning](velocity_tuning.md) step.
:::
1. (Optional) [RO_ACCEL_LIM](#RO_ACCEL_LIM) [m/s^2]: Maximum acceleration you want to allow for your rover.
2. (Optional) [RO_ACCEL_LIM](#RO_ACCEL_LIM) [m/s^2]: Maximum acceleration you want to allow for your rover.
<a id="RO_ACCEL_LIM_CONSIDERATIONS"></a>
@@ -89,7 +92,7 @@ The geometric parameters are dependant on your rover type:
3. Set [RO_ACCEL_LIM](#RO_ACCEL_LIM) to the highest value that does not cause the rover to lift up.
:::
1. (Optional) [RO_DECEL_LIM](#RO_DECEL_LIM) [m/s^2]: Maximum deceleration you want to allow for your rover.
3. (Optional) [RO_DECEL_LIM](#RO_DECEL_LIM) [m/s^2]: Maximum deceleration you want to allow for your rover.
:::tip
The same [considerations](#RO_ACCEL_LIM_CONSIDERATIONS) as in the configuration of [RO_ACCEL_LIM](#RO_ACCEL_LIM) apply.
@@ -123,7 +126,6 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
| ----------------------------------------------------------------------------------------------------- | ----------- | ---- |
| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | m |
### Mecanum Specific
| Parameter | Description | Unit |