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differential: update module (#23629)

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Improve the slow down effect and add support for speed change in mission mode.
Seperate code related to turning setpoints into motor commands into its own folder and refactor code.
This commit is contained in:
chfriedrich98
2024-08-29 15:27:08 +02:00
committed by GitHub
parent c86d44f831
commit f8188f0981
18 changed files with 615 additions and 338 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
+7 -5
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@@ -14,15 +14,17 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAN_YAW_SCALE 0.1
param set-default RD_YAW_RATE_I 0.1
param set-default RD_YAW_RATE_P 5
param set-default RD_MAX_ACCEL 6
param set-default RD_MAX_JERK 30
param set-default RD_MAX_SPEED 7
param set-default RD_HEADING_P 5
param set-default RD_HEADING_I 0.1
param set-default RD_YAW_RATE_P 5
param set-default RD_YAW_RATE_I 0
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0
param set-default RD_SPEED_P 1
param set-default RD_SPEED_I 0
param set-default RD_MAX_YAW_RATE 180
param set-default RD_MISS_SPD_DEF 7
param set-default RD_MISS_SPD_DEF 5
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
+2 -2
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@@ -27,8 +27,8 @@ param set-default RD_YAW_RATE_P 5
param set-default RD_MAX_ACCEL 1
param set-default RD_MAX_JERK 3
param set-default RD_MAX_SPEED 8
param set-default RD_HEADING_P 5
param set-default RD_HEADING_I 0.1
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0.1
param set-default RD_MAX_YAW_RATE 30
param set-default RD_MISS_SPD_DEF 8
param set-default RD_TRANS_DRV_TRN 0.349066
ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
+22
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@@ -20,3 +20,25 @@ param set-default RBCLW_ADDRESS 128
param set-default RBCLW_FUNC1 101
param set-default RBCLW_FUNC2 102
param set-default RBCLW_REV 1 # reverse right wheels
# Rover parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAN_YAW_SCALE 1
param set-default RD_MAX_ACCEL 5
param set-default RD_MAX_JERK 50
param set-default RD_MAX_SPEED 2
param set-default RD_YAW_RATE_P 0.1
param set-default RD_YAW_RATE_I 0
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0
param set-default RD_SPEED_P 0.5
param set-default RD_SPEED_I 0.1
param set-default RD_MAX_YAW_RATE 300
param set-default RD_MISS_SPD_DEF 1.8
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
# Pure pursuit parameters
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
param set-default PP_LOOKAHD_GAIN 1