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rover: add hiwonder rover airframes

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chfriedrich98 2025-09-25 16:07:46 +02:00
parent 8a27b1a253
commit ffff79b306
4 changed files with 137 additions and 0 deletions
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45
ROMFS/px4fmu_common/init.d/airframes/50002_hiwonder_tracked Normal file
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@ -0,0 +1,45 @@
#!/bin/sh
#
# @name Hiwonder Tracked
#
# @url https://www.hiwonder.com/products/suspended-shock-absorbing-tracked-chassis?variant=40378709835863
#
# @type Rover
# @class Rover
#
. ${R}etc/init.d/rc.rover_differential_defaults
param set-default HIWONDER_EMM_EN 1 # Enable motor driver
param set-default BAT1_N_CELLS 3
param set-default NAV_ACC_RAD 0.5
# Differential Parameters
param set-default RD_WHEEL_TRACK 0.16
param set-default RD_TRANS_DRV_TRN 0.785398
param set-default RD_TRANS_TRN_DRV 0.0872665
# Rover Rate Control Parameters
param set-default RO_YAW_EXPO 0.2
param set-default RO_YAW_SUPEXPO 0.1
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 140
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Velocity Control Parameters
param set-default RO_ACCEL_LIM 1
param set-default RO_DECEL_LIM 1
param set-default RO_JERK_LIM 10
param set-default RO_MAX_THR_SPEED 0.3
param set-default RO_SPEED_LIM 0.28
param set-default RO_SPEED_I 0.05
param set-default RO_SPEED_P 0.1
param set-default RO_SPEED_RED 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1

46
ROMFS/px4fmu_common/init.d/airframes/51002_hiwonder_ackermann Normal file
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#!/bin/sh
#
# @name Hiwonder Ackermann
#
# @url https://www.hiwonder.com/products/ackermann-steering-chassis?variant=40382428348503
#
# @type Rover
# @class Rover
#
. ${R}etc/init.d/rc.rover_ackermann_defaults
param set-default HIWONDER_EMM_EN 1 # Enable motor driver
param set-default BAT1_N_CELLS 3
param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.17
param set-default RA_ACC_RAD_GAIN 1
param set-default RA_ACC_RAD_MAX 1
param set-default RA_MAX_STR_ANG 0.698132
# Rover Rate Control Parameters
param set-default RO_YAW_EXPO 0.6
param set-default RO_YAW_SUPEXPO 0.3
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 150
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Velocity Control Parameters
param set-default RO_ACCEL_LIM 1.6
param set-default RO_DECEL_LIM 3
param set-default RO_JERK_LIM 10
param set-default RO_MAX_THR_SPEED 1.2
param set-default RO_SPEED_LIM 1.1
param set-default RO_SPEED_I 0.05
param set-default RO_SPEED_P 0.1
param set-default RO_SPEED_RED 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1

43
ROMFS/px4fmu_common/init.d/airframes/52001_hiwonder_mecanum Normal file
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@ -0,0 +1,43 @@
#!/bin/sh
#
# @name Hiwonder Mecanum
#
# @url https://www.hiwonder.com/products/large-metal-4wd-vehicle-chassis-green
#
# @type Rover
# @class Rover
#
. ${R}etc/init.d/rc.rover_mecanum_defaults
param set-default HIWONDER_EMM_EN 1 # Enable motor driver
param set-default BAT1_N_CELLS 3
param set-default NAV_ACC_RAD 0.5
# Mecanum Parameters
param set-default RM_WHEEL_TRACK 0.16
# Rover Rate Control Parameters
param set-default RO_YAW_EXPO 0.2
param set-default RO_YAW_SUPEXPO 0.1
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 130
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Velocity Control Parameters
param set-default RO_ACCEL_LIM 0.9
param set-default RO_DECEL_LIM 1.2
param set-default RO_JERK_LIM 10
param set-default RO_MAX_THR_SPEED 0.5
param set-default RO_SPEED_LIM 0.45
param set-default RO_SPEED_I 0.05
param set-default RO_SPEED_P 0.1
param set-default RO_SPEED_RED 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1

3
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
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@ -145,6 +145,7 @@ if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
# [50000, 50999] Differential rovers
50000_generic_rover_differential
50001_aion_robotics_r1_rover
50002_hiwonder_tracked
)
endif()
@ -153,6 +154,7 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
# [51000, 51999] Ackermann rovers
51000_generic_rover_ackermann
51001_axial_scx10_2_trail_honcho
51002_hiwonder_ackermann
)
endif()
@ -160,6 +162,7 @@ if(CONFIG_MODULES_ROVER_MECANUM)
px4_add_romfs_files(
# [52000, 52999] Mecanum rovers
52000_generic_rover_mecanum
52001_hiwonder_mecanum
)
endif()