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unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175)
This commit is contained in:
Marco Zorzi
@@ -0,0 +1,61 @@
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#!nsh
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#
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# @name Traxxas stampede vxl 2wd
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#
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# @url https://traxxas.com/products/models/electric/stampede-vxl-tsm
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#
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# @type Rover
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#
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# @output MAIN2 steering
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# @output MAIN4 throttle
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#
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# @maintainer Marco Zorzi
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#
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sh /etc/init.d/rc.gnd_defaults
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if [ $AUTOCNF == yes ]
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then
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param set BAT_N_CELLS 7
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param set FW_AIRSPD_MIN 0
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param set FW_AIRSPD_TRIM 1
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param set FW_AIRSPD_MAX 3
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param set NAV_ACC_RAD 0.5
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param set MIS_LTRMIN_ALT 0.01
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param set MIS_TAKEOFF_ALT 0.01
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_MAG_TYPE 1
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param set GND_WR_P 2
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param set GND_WR_I 0.9674
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param set GND_WR_IMAX 0.1
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param set GND_WR_D 1.2
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param set GND_SP_CTRL_MODE 1
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param set GND_L1_DIST 10
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param set GND_THR_IDLE 0
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param set GND_THR_CRUISE 0
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param set GND_THR_MAX 0.5
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param set GND_THR_MIN 0
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param set GND_SPEED_P 0.25
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param set GND_SPEED_I 0.001
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param set GND_SPEED_D 3
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param set GND_SPEED_IMAX 0.125
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param set GND_SPEED_THR_SC 1
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fi
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# Configure this as ugv
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set MAV_TYPE 10
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# Set mixer
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set MIXER stampede
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# Provide ESC a constant 1500 us pulse
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set PWM_DISARMED 1500
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set PWM_MAIN_REV2 1
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set PWM_MAX 2000
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set PWM_MIN 1000
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@@ -1,6 +1,6 @@
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#!nsh
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set VEHICLE_TYPE rover
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set VEHICLE_TYPE ugv
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# This section can be enabled once tuning parameters for this particular
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# rover model are known. It allows to configure default gains via the GUI
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@@ -0,0 +1,24 @@
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#!nsh
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#
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# Standard apps for unmanned ground vehicles (UGV)
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#
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#
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# Start the attitude and position estimator
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#
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ekf2 start
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#attitude_estimator_q start
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#local_position_estimator start
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#
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# Start attitude controllers
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#
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gnd_att_control start
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gnd_pos_control start
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#
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# Start Land Detector
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#
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land_detector start ugv
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@@ -0,0 +1,32 @@
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#!nsh
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set VEHICLE_TYPE ugv
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if [ $AUTOCNF == yes ]
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then
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#
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# Default parameters for UGVs
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#
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param set NAV_DLL_ACT 0
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param set NAV_ACC_RAD 2.0
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# temporary
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param set NAV_FW_ALT_RAD 1000
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param set MIS_LTRMIN_ALT 0.01
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param set MIS_TAKEOFF_ALT 0.01
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fi
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# Enable servo output on pins 3 and 4 (steering and thrust)
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# but also include 1+2 as they form together one output group
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# and need to be set together.
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set PWM_OUT 1234
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# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
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# may damage analog servos.
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set PWM_RATE 50
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# This is the gimbal pass mixer
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set MIXER_AUX pass
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set PWM_AUX_RATE 50
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set PWM_AUX_OUT 1234
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@@ -1042,20 +1042,29 @@ then
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fi
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#
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# Rover setup
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# UGV setup
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#
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if [ $VEHICLE_TYPE == rover ]
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if [ $VEHICLE_TYPE == ugv ]
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then
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# 10 is MAV_TYPE_GROUND_ROVER
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set MAV_TYPE 10
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if [ $MIXER == none ]
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then
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# Set default mixer for UGV if not defined
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set MIXER stampede
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fi
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if [ $MAV_TYPE == none ]
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then
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# Use MAV_TYPE = 10 (UGV) if not defined
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set MAV_TYPE 10
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fi
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param set MAV_TYPE ${MAV_TYPE}
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# Load mixer and configure outputs
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sh /etc/init.d/rc.interface
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# Start standard rover apps
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sh /etc/init.d/rc.axialracing_ax10_apps
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param set MAV_TYPE 10
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# Start standard UGV apps
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sh /etc/init.d/rc.gnd_apps
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fi
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#
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@@ -0,0 +1,37 @@
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Traxxas Stampede Rc Car mixer for PX4FMU
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===========================
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Designed for Traxxas Stampede
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This file defines mixers suitable for controlling a Traxxas Stampede rover using
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PX4FMU. The configuration assumes the steering is connected to PX4FMU
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servo outputs 1 and the motor speed control to output 3. Output 0 and 2 is
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assumed to be unused.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
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See the README for more information on the scaler format.
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Output 0
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---------------------------------------
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Z:
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Steering mixer using roll on output 1
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---------------------------------------
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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Output 2
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---------------------------------------
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This mixer is empty.
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Z:
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Output 3
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---------------------------------------
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 10000 10000 0 -10000 10000
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@@ -1,37 +1,46 @@
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Mixer for SITL rover
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=========================================================
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# mixer for the rudder
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Output 0
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---------------------------------------
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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# mixer for the rudder
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Output 1
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---------------------------------------
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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# mixer for the elevator
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 1 10000 10000 0 -10000 10000
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Output 2
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---------------------------------------
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Z:
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# mixer for throttle
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Output 3
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---------------------------------------
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Z:
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Output 4
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---------------------------------------
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Z:
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Output 5
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---------------------------------------
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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S: 0 3 10000 10000 0 -10000 10000
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# mixer for throttle
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Output 6
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---------------------------------------
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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S: 0 3 10000 10000 0 -10000 10000
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# mixer for throttle
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Output 7
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---------------------------------------
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Z:
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# mixer for throttle
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Output 8
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---------------------------------------
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Z:
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