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rover: replace RX_MAX_THR_YAW_R with a correction factor RO_YAW_RATE_CORR

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chfriedrich98
2025-06-18 08:35:48 +02:00
committed by chfriedrich98
parent 3e8f054a1c
commit f35b92a487
16 changed files with 51 additions and 59 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
+1 -1
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@@ -15,7 +15,6 @@ param set-default NAV_ACC_RAD 0.5
# Differential Parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAX_THR_YAW_R 1.5
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
@@ -31,6 +30,7 @@ param set-default RO_YAW_RATE_P 0.25
param set-default RO_YAW_RATE_LIM 180
param set-default RO_YAW_ACCEL_LIM 120
param set-default RO_YAW_DECEL_LIM 1000
param set-default RO_YAW_RATE_CORR 1.43
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
+1
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@@ -30,6 +30,7 @@ param set-default RO_MAX_THR_SPEED 3.1
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 1
param set-default RO_YAW_RATE_LIM 180
param set-default RO_YAW_RATE_CORR 1
# Rover Attitude Control Parameters
param set-default RO_YAW_P 3
ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum
+1 -1
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@@ -15,7 +15,6 @@ 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
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
@@ -29,6 +28,7 @@ param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 120
param set-default RO_YAW_ACCEL_LIM 240
param set-default RO_YAW_DECEL_LIM 1000
param set-default RO_YAW_RATE_CORR 1.75
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
+1 -1
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@@ -26,7 +26,6 @@ param set-default NAV_ACC_RAD 0.5
# Differential Parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAX_THR_YAW_R 0.7
param set-default RD_TRANS_DRV_TRN 0.785398
param set-default RD_TRANS_TRN_DRV 0.139626
@@ -42,6 +41,7 @@ param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 250
param set-default RO_YAW_ACCEL_LIM 600
param set-default RO_YAW_DECEL_LIM 600
param set-default RO_YAW_RATE_CORR 2.7
# Rover Attitude Control Parameters
param set-default RO_YAW_P 2.5
ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho
+1
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@@ -33,6 +33,7 @@ param set-default RO_MAX_THR_SPEED 2.8
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 120
param set-default RO_YAW_RATE_CORR 1
# Rover Attitude Control Parameters
param set-default RO_YAW_P 2.5