PX4-Autopilot/src/lib/rover_control/module.yaml

module_name: Rover Control

parameters:
    - group: Rover Control
      definitions:
        RO_MAX_THR_SPEED:
          description:
            short: Speed the rover drives at maximum throttle
            long: Used to linearly map speeds [m/s] to throttle values [-1. 1].
          type: float
          unit: m/s
          min: 0
          max: 100
          increment: 0.01
          decimal: 2
          default: 0

        RO_ACCEL_LIM:
          description:
            short: Acceleration limit
            long: |
              Set to -1 to disable.
              For mecanum rovers this limit is used for longitudinal and lateral acceleration.
          type: float
          unit: m/s^2
          min: -1
          max: 100
          increment: 0.01
          decimal: 2
          default: -1

        RO_DECEL_LIM:
          description:
            short: Deceleration limit
            long: |
              Set to -1 to disable.
              Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
              For mecanum rovers this limit is used for longitudinal and lateral deceleration.
          type: float
          unit: m/s^2
          min: -1
          max: 100
          increment: 0.01
          decimal: 2
          default: -1

        RO_JERK_LIM:
          description:
            short: Jerk limit
            long: |
              Set to -1 to disable.
              Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
              For mecanum rovers this limit is used for longitudinal and lateral jerk.
          type: float
          unit: m/s^3
          min: -1
          max: 100
          increment: 0.01
          decimal: 2
          default: -1

        RO_YAW_RATE_TH:
          description:
            short: Yaw rate measurement threshold
            long: The minimum threshold for the yaw rate measurement not to be interpreted as zero.
          type: float
          unit: deg/s
          min: 0
          max: 100
          increment: 0.01
          decimal: 2
          default: 3

        RO_SPEED_TH:
          description:
            short: Speed measurement threshold
            long: The minimum threshold for the speed measurement not to be interpreted as zero.
          type: float
          unit: m/s
          min: 0
          max: 100
          increment: 0.01
          decimal: 2
          default: 0.1

        RO_YAW_STICK_DZ:
          description:
            short: Yaw stick deadzone
            long: Percentage of stick input range that will be interpreted as zero around the stick centered value.
          type: float
          min: 0
          max: 1
          increment: 0.01
          decimal: 2
          default: 0.1

    - group: Rover Rate Control
      definitions:
        RO_YAW_RATE_P:
          description:
            short: Proportional gain for closed loop yaw rate controller
          type: float
          min: 0
          max: 100
          increment: 0.01
          decimal: 3
          default: 0

        RO_YAW_RATE_I:
          description:
            short: Integral gain for closed loop yaw rate controller
          type: float
          min: 0
          max: 100
          increment: 0.01
          decimal: 3
          default: 0

        RO_YAW_RATE_LIM:
          description:
            short: Yaw rate limit
            long: |
              Used to cap yaw rate setpoints and map controller inputs to yaw rate setpoints
              in Acro, Stabilized and Position mode.
          type: float
          unit: deg/s
          min: 0
          max: 10000
          increment: 0.01
          decimal: 2
          default: 0

        RO_YAW_ACCEL_LIM:
          description:
            short: Yaw acceleration limit
            long: Set to -1 to disable.
          type: float
          unit: deg/s^2
          min: -1
          max: 10000
          increment: 0.01
          decimal: 2
          default: -1

    - group: Rover Attitude Control
      definitions:
        RO_YAW_P:
          description:
            short: Proportional gain for closed loop yaw controller
          type: float
          min: 0
          max: 100
          increment: 0.01
          decimal: 3
          default: 0

    - group: Rover Velocity Control
      definitions:
        RO_SPEED_P:
          description:
            short: Proportional gain for ground speed controller
          type: float
          min: 0
          max: 100
          increment: 0.01
          decimal: 2
          default: 0

        RO_SPEED_I:
          description:
            short: Integral gain for ground speed controller
          type: float
          min: 0
          max: 100
          increment: 0.001
          decimal: 3
          default: 0

        RO_SPEED_LIM:
          description:
            short: Speed limit
            long: |
              Used to cap speed setpoints and map controller inputs to speed setpoints
              in Position mode.
          type: float
          unit: m/s
          min: -1
          max: 100
          increment: 0.01
          decimal: 2
          default: -1