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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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PerFrivik
37add01e1a
also add dependency on control allocation parameter CA_R_REV Differential Drive Guidance: Added mission logic Differential Drive Guidance Differential Drive Guidance Differential Guidance: Inlcude library Differential Guidance: Compiles, does not work though Differential Guidance: Works somewhat Differential Guidance: Temp Differential Guidance: Tuning Differeital Drive Guidance: Remove waypoint mover Differential Guidance: Fixed accuracy issue by converting from float to double Differential Guidance: rebased on differentialdrive and improved waypoint accuracy Temp Differential Guidance: cleanup temp
124 lines
2.9 KiB
YAML
124 lines
2.9 KiB
YAML
module_name: Differential Drive Control
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parameters:
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- group: Rover Differential Drive
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definitions:
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RDD_WHEEL_BASE:
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description:
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short: Wheel base
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long: Distance from the center of the right wheel to the center of the left wheel
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type: float
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unit: m
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min: 0.001
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max: 100
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increment: 0.001
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decimal: 3
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default: 0.5
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RDD_WHEEL_RADIUS:
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description:
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short: Wheel radius
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long: Size of the wheel, half the diameter of the wheel
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type: float
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unit: m
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min: 0.001
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max: 100
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increment: 0.001
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decimal: 3
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default: 0.1
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RDD_SPEED_SCALE:
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description:
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short: Manual speed scale
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type: float
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min: 0
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max: 1.0
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increment: 0.01
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decimal: 2
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default: 1.0
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RDD_ANG_SCALE:
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description:
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short: Manual angular velocity scale
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type: float
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min: 0
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max: 1.0
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increment: 0.01
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decimal: 2
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default: 1.0
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RDD_WHL_SPEED:
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description:
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short: Maximum wheel speed
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type: float
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unit: rad/s
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 0.3
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RDD_P_HEADING:
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description:
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short: Proportional gain for heading controller
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type: float
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 1.0
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RDD_P_SPEED:
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description:
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short: Proportional gain for speed controller
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type: float
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 1.0
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RDD_I_SPEED:
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description:
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short: Integral gain for ground speed controller
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type: float
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 0.0
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RDD_P_ANG_VEL:
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description:
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short: Proportional gain for angular velocity controller
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type: float
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 1.0
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RDD_I_ANG_VEL:
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description:
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short: Integral gain for angular velocity controller
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type: float
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 0.0
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RDD_MAX_JERK:
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description:
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short: Maximum jerk
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long: Limit for forwards acc/deceleration change.
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type: float
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unit: m/s^3
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 0.5
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RDD_MAX_ACCEL:
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description:
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short: Maximum acceleration
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long: Maximum acceleration is used to limit the acceleration of the rover
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type: float
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unit: m/s^2
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 0.5
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