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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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rover: remove deprecated module
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chfriedrich98
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chfriedrich98
chfriedrich98
parent
dd0dcbb82c
commit
e266d1f22f
@@ -1,33 +0,0 @@
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#!/bin/sh
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#
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# @name Rover
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#
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. ${R}etc/init.d/rc.rover_defaults
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param set-default GND_L1_DIST 5
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param set-default GND_L1_PERIOD 10
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param set-default GND_SP_CTRL_MODE 1
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param set-default GND_SPEED_D 0.001
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param set-default GND_SPEED_I 3
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param set-default GND_SPEED_IMAX 0.125
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param set-default GND_SPEED_P 0.25
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param set-default GND_SPEED_THR_SC 1
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param set-default GND_SPEED_TRIM 4
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param set-default GND_THR_CRUISE 0.3
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param set-default GND_THR_MAX 0.5
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param set-default GND_THR_MIN 0
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param set-default NAV_ACC_RAD 0.5
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param set-default NAV_LOITER_RAD 2
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param set-default GND_MAX_ANG 0.6
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param set-default GND_WHEEL_BASE 2
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param set-default CA_AIRFRAME 5
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param set-default CA_R_REV 1
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param set-default PWM_MAIN_FUNC1 201
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param set-default PWM_MAIN_FUNC2 201
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param set-default PWM_MAIN_FUNC6 101
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param set-default PWM_MAIN_FUNC7 101
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@@ -1,12 +0,0 @@
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#!/bin/sh
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#
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# @name Aion Robotics R1 Rover
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# @type Rover
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# @class Rover
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. ${R}etc/init.d/rc.rover_differential_defaults
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 101
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param set-default PWM_MAIN_FUNC6 102
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param set-default PWM_MAIN_FUNC7 102
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@@ -62,8 +62,6 @@ px4_add_romfs_files(
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1043_gazebo-classic_standard_vtol_drop
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1044_gazebo-classic_plane_lidar
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1045_gazebo-classic_quadtailsitter
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1060_gazebo-classic_rover
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1061_gazebo-classic_r1_rover
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1062_flightgear_tf-r1
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1070_gazebo-classic_boat
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@@ -69,15 +69,6 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
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)
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endif()
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if(CONFIG_MODULES_ROVER_POS_CONTROL)
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px4_add_romfs_files(
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rc.rover_apps
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rc.rover_defaults
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rc.boat_defaults # hack
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)
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endif()
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if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
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px4_add_romfs_files(
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rc.rover_differential_apps
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@@ -1,49 +0,0 @@
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#!/bin/sh
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#
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# @name Generic Ground Vehicle (Deprecated)
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#
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# @type Rover
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# @class Rover
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#
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# @output Motor1 throttle
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# @output Servo1 steering
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#
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# @maintainer
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#
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.rover_defaults
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param set-default BAT1_N_CELLS 2
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param set-default EKF2_ANGERR_INIT 0.01
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param set-default EKF2_GBIAS_INIT 0.01
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param set-default EKF2_MAG_TYPE 1
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param set-default FW_AIRSPD_MAX 3
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param set-default FW_AIRSPD_MIN 0
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param set-default FW_AIRSPD_TRIM 1
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# Settings for a typical wheelbase 0f 0.3m
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param set-default GND_L1_DIST 1
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param set-default GND_L1_PERIOD 5
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param set-default GND_SP_CTRL_MODE 1
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param set-default GND_SPEED_P 0.25
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param set-default GND_SPEED_I 3
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param set-default GND_SPEED_D 0.001
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param set-default GND_SPEED_IMAX 0.125
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param set-default GND_SPEED_THR_SC 1
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param set-default GND_THR_CRUISE 0.3
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param set-default GND_THR_MAX 0.5
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param set-default GND_THR_MIN 0
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param set-default NAV_ACC_RAD 0.5
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param set-default CA_AIRFRAME 5
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param set-default CA_R_REV 1
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param set-default PWM_MAIN_FUNC1 201
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param set-default PWM_MAIN_FUNC2 201
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param set-default PWM_MAIN_FUNC6 101
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param set-default PWM_MAIN_FUNC7 101
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@@ -1,64 +0,0 @@
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#!/bin/sh
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#
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# @name NXP Cup car: DF Robot GPX (Deprecated)
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#
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# @type Rover
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# @class Rover
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#
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# @board px4_fmu-v2 exclude
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#
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# @output Motor1 Speed of left wheels
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# @output Servo1 Steering servo
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#
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# @maintainer Katrin Moritz
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.rover_defaults
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param set-default BAT1_N_CELLS 2
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param set-default EKF2_GBIAS_INIT 0.01
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param set-default EKF2_ANGERR_INIT 0.01
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param set-default EKF2_MAG_TYPE 1
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param set-default FW_AIRSPD_MIN 0
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param set-default FW_AIRSPD_TRIM 1
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param set-default FW_AIRSPD_MAX 3
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param set-default GND_THR_CRUISE 0.3
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param set-default GND_THR_MAX 0.5
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# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
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param set-default GND_MAX_ANG 1.042
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param set-default GND_WHEEL_BASE 0.17
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# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
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# to support negative throttle.
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param set-default GND_THR_MIN 0
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param set-default GND_SPEED_P 0.25
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param set-default GND_SPEED_I 3
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param set-default GND_SPEED_D 0.001
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param set-default GND_SPEED_IMAX 0.125
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param set-default GND_SPEED_THR_SC 1
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param set-default NAV_ACC_RAD 0.5
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param set-default CA_AIRFRAME 5
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param set-default CA_R_REV 1
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param set-default PWM_MAIN_FUNC2 201
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param set-default PWM_MAIN_FUNC3 101
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param set-default PWM_MAIN_FUNC4 101
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# Provide ESC a constant 1500 us pulse to idle
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param set-default PWM_MAIN_DIS2 1500
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param set-default PWM_MAIN_DIS3 1485
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param set-default PWM_MAIN_DIS4 1485
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param set-default PWM_MAIN_FAIL3 1485
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param set-default PWM_MAIN_FAIL4 1485
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param set-default PWM_MAIN_MIN3 970
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param set-default PWM_MAIN_MIN4 970
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@@ -158,14 +158,6 @@ if(CONFIG_MODULES_ROVER_MECANUM)
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)
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endif()
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if(CONFIG_MODULES_ROVER_POS_CONTROL)
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px4_add_romfs_files(
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# [59000, 59999] Rover position control (deprecated)
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59000_generic_ground_vehicle
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59001_nxpcup_car_dfrobot_gpx
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)
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endif()
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if(CONFIG_MODULES_UUV_ATT_CONTROL)
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px4_add_romfs_files(
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# [60000, 61000] (Unmanned) Underwater Robots
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@@ -1,21 +0,0 @@
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#!/bin/sh
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#
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# Standard apps for unmanned ground vehicles (UGV).
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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#
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# Start Control Allocator
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#
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control_allocator start
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#
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# Start attitude controllers.
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#
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rover_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 rover
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@@ -1,19 +0,0 @@
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#!/bin/sh
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#
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# UGV default parameters.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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set VEHICLE_TYPE rover
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# MAV_TYPE_GROUND_ROVER 10
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param set-default MAV_TYPE 10
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param set-default MIS_TAKEOFF_ALT 0.01
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param set-default NAV_ACC_RAD 2
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param set-default NAV_LOITER_RAD 2
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# Temporary.
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param set-default NAV_FW_ALT_RAD 1000
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