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rover: reduce speed based on course error

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chfriedrich98
2025-05-21 09:37:44 +02:00
committed by chfriedrich98
parent 5a430f0ba6
commit eed966a1c6
21 changed files with 123 additions and 172 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
+2 -1
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@@ -35,10 +35,11 @@ param set-default RO_YAW_DECEL_LIM 1000
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Position Control Parameters
# Rover Velocity Control Parameters
param set-default RO_SPEED_LIM 2
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
param set-defatul RO_SPEED_RED 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
+2 -1
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@@ -34,10 +34,11 @@ param set-default RO_YAW_RATE_LIM 180
# Rover Attitude Control Parameters
param set-default RO_YAW_P 3
# Rover Position Control Parameters
# Rover Velocity Control Parameters
param set-default RO_SPEED_LIM 3
param set-default RO_SPEED_I 0.1
param set-default RO_SPEED_P 1
param set-default RO_SPEED_RED 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum
+2 -2
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@@ -16,7 +16,6 @@ param set-default NAV_ACC_RAD 0.5
# Mecanum Parameters
param set-default RM_WHEEL_TRACK 0.3
param set-default RM_MAX_THR_YAW_R 1.2
param set-default RM_MISS_SPD_GAIN 1
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
@@ -34,10 +33,11 @@ param set-default RO_YAW_DECEL_LIM 1000
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Position Control Parameters
# Rover Velocity Control Parameters
param set-default RO_SPEED_LIM 2
param set-default RO_SPEED_I 0.5
param set-default RO_SPEED_P 1
param set-default RO_SPEED_RED 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 0.5