mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 12:13:35 +08:00
67 lines
2.5 KiB
YAML
67 lines
2.5 KiB
YAML
module_name: Rover Mecanum
|
|
|
|
parameters:
|
|
- group: Rover Mecanum
|
|
definitions:
|
|
RM_WHEEL_TRACK:
|
|
description:
|
|
short: Wheel track
|
|
long: Distance from the center of the right wheel to the center of the left wheel.
|
|
type: float
|
|
unit: m
|
|
min: 0
|
|
max: 100
|
|
increment: 0.001
|
|
decimal: 3
|
|
default: 0
|
|
|
|
RM_MAX_THR_YAW_R:
|
|
description:
|
|
short: Yaw rate turning left/right wheels at max speed in opposite directions
|
|
long: |
|
|
This parameter is used to calculate the feedforward term of the closed loop yaw rate control.
|
|
The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate.
|
|
This desired speed difference is then linearly mapped to normalized motor commands.
|
|
A good starting point is half the speed the rover drives at maximum throttle (RD_MAX_THR_SPD)).
|
|
Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.
|
|
type: float
|
|
unit: m/s
|
|
min: 0
|
|
max: 100
|
|
increment: 0.01
|
|
decimal: 2
|
|
default: 0
|
|
|
|
RM_MISS_SPD_GAIN:
|
|
description:
|
|
short: Tuning parameter for the speed reduction during waypoint transition
|
|
long: |
|
|
The waypoint transition speed is calculated as:
|
|
Transition_speed = Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN)
|
|
The normalized transition angle is the angle between the line segment from prev-curr waypoint and
|
|
curr-next waypoint interpolated from [0, 180] -> [0, 1].
|
|
Higher value -> More speed reduction during waypoint transitions.
|
|
Set to -1 to disable any speed reduction during waypoint transition.
|
|
type: float
|
|
min: -1
|
|
max: 100
|
|
increment: 0.01
|
|
decimal: 2
|
|
default: -1
|
|
|
|
RM_COURSE_CTL_TH:
|
|
description:
|
|
short: Threshold to update course control in manual position mode
|
|
long: |
|
|
Threshold for the angle between the active cruise direction and the cruise direction given
|
|
by the stick inputs.
|
|
This can be understood as a deadzone for the combined stick inputs for forward/backwards
|
|
and lateral speed which defines a course direction.
|
|
type: float
|
|
unit: rad
|
|
min: 0
|
|
max: 3.14
|
|
increment: 0.01
|
|
decimal: 2
|
|
default: 0.17
|