mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 21:13:33 +08:00
86 lines
2.0 KiB
Bash
86 lines
2.0 KiB
Bash
#!/bin/sh
|
|
#
|
|
# @name DF Robot GPX:Asurada
|
|
|
|
#
|
|
# @type Rover
|
|
# @class Rover
|
|
#
|
|
# @board px4_fmu-v2 exclude
|
|
#
|
|
# @output MAIN2 Steering servo
|
|
# @output MAIN3 Speed of left wheels
|
|
# @output MAIN4 Speed of right wheels
|
|
#
|
|
# @maintainer Katrin Moritz
|
|
#
|
|
# @board px4_fmu-v2 exclude
|
|
# @board intel_aerofc-v1 exclude
|
|
# @board bitcraze_crazyflie exclude
|
|
#
|
|
|
|
sh /etc/init.d/rc.rover_defaults
|
|
|
|
if [ $AUTOCNF = yes ]
|
|
then
|
|
param set BAT_N_CELLS 2
|
|
|
|
param set EKF2_GBIAS_INIT 0.01
|
|
param set EKF2_ANGERR_INIT 0.01
|
|
param set EKF2_MAG_TYPE 1
|
|
|
|
param set FW_AIRSPD_MIN 0
|
|
param set FW_AIRSPD_TRIM 1
|
|
param set FW_AIRSPD_MAX 3
|
|
|
|
param set GND_THR_IDLE 0
|
|
param set GND_THR_CRUISE 0
|
|
param set GND_THR_MAX 0.5
|
|
|
|
# Because this is differential drive, it can make a turn with radius 0.
|
|
# This corresponds to a turn angle of pi radians.
|
|
# If a special case is made for differential-drive, this will need to change.
|
|
param set GND_MAX_ANG 3.142
|
|
param set GND_WHEEL_BASE 0.3
|
|
|
|
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
|
|
# to support negative throttle.
|
|
param set GND_THR_MIN 0.0
|
|
param set GND_SPEED_P 0.25
|
|
param set GND_SPEED_I 3
|
|
param set GND_SPEED_D 0.001
|
|
param set GND_SPEED_IMAX 0.125
|
|
param set GND_SPEED_THR_SC 1
|
|
|
|
param set MIS_LTRMIN_ALT 0.01
|
|
param set MIS_TAKEOFF_ALT 0.01
|
|
|
|
param set NAV_ACC_RAD 0.5
|
|
|
|
# Provide ESC a constant 1500 us pulse to idle
|
|
param set PWM_DISARMED 1500
|
|
param set PWM_MAIN_DIS3 1485
|
|
param set PWM_MAIN_DIS4 1485
|
|
param set PWM_MAIN_FAIL3 1485
|
|
param set PWM_MAIN_FAIL4 1485
|
|
param set PWM_MAX 2000
|
|
param set PWM_MIN 1000
|
|
param set PWM_MAIN_MIN3 970
|
|
param set PWM_MAIN_MIN4 970
|
|
|
|
# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
|
|
param set CBRK_AIRSPD_CHK 162128
|
|
|
|
# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
|
|
param set GND_MAX_ANG 3.1415
|
|
|
|
fi
|
|
|
|
# Configure this as rover
|
|
set MAV_TYPE 10
|
|
|
|
# Set mixer
|
|
set MIXER rover_diff_and_servo
|
|
|
|
set PWM_MAIN_REV2 1
|