mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-02 23:31:36 +08:00
56 lines
1.6 KiB
Bash
56 lines
1.6 KiB
Bash
#!/bin/sh
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# @name Aion Robotics R1 Rover
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# @type Rover
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# @class Rover
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. ${R}etc/init.d/rc.rover_differential_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
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param set-default SIM_GZ_EN 1 # Gazebo bridge
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# Rover parameters
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param set-default RD_WHEEL_TRACK 0.3
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param set-default RD_MAX_ACCEL 5
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param set-default RD_MAX_DECEL 10
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param set-default RD_MAX_JERK 30
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param set-default RD_MAX_THR_YAW_R 1.5
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param set-default RD_YAW_RATE_P 0.25
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param set-default RD_YAW_RATE_I 0.01
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param set-default RD_YAW_P 5
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param set-default RD_YAW_I 0.1
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param set-default RD_MAX_SPEED 2
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param set-default RD_MAX_THR_SPD 2.15
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param set-default RD_SPEED_P 0.1
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param set-default RD_SPEED_I 0.01
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param set-default RD_MAX_YAW_RATE 180
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param set-default RD_TRANS_DRV_TRN 0.349066
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param set-default RD_TRANS_TRN_DRV 0.174533
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param set-default RD_MAX_YAW_ACCEL 1000
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# Pure pursuit parameters
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param set-default PP_LOOKAHD_MAX 30
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param set-default PP_LOOKAHD_MIN 2
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param set-default PP_LOOKAHD_GAIN 1
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# Simulated sensors
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param set-default SENS_EN_GPSSIM 1
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param set-default SENS_EN_BAROSIM 0
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param set-default SENS_EN_MAGSIM 1
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param set-default SENS_EN_ARSPDSIM 0
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# Actuator mapping
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param set-default SIM_GZ_WH_FUNC1 101 # right wheel
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param set-default SIM_GZ_WH_MIN1 70
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param set-default SIM_GZ_WH_MAX1 130
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param set-default SIM_GZ_WH_DIS1 100
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param set-default SIM_GZ_WH_FUNC2 102 # left wheel
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param set-default SIM_GZ_WH_MIN2 70
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param set-default SIM_GZ_WH_MAX2 130
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param set-default SIM_GZ_WH_DIS2 100
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param set-default SIM_GZ_WH_REV 1 # reverse right wheel
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