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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
79 lines
2.1 KiB
Bash
79 lines
2.1 KiB
Bash
#!/bin/sh
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# @name Generic Mecanum Rover
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# @type Rover
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# @class Rover
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. ${R}etc/init.d/rc.rover_mecanum_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
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param set-default SIM_GZ_EN 1 # Gazebo bridge
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param set-default NAV_ACC_RAD 0.5
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# Mecanum Parameters
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param set-default RM_WHEEL_TRACK 0.6
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param set-default RM_YAW_STK_GAIN 0.6
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# Rover Control Parameters
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param set-default RO_ACCEL_LIM 3
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param set-default RO_DECEL_LIM 5
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param set-default RO_JERK_LIM 30
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param set-default RO_MAX_THR_SPEED 2.1
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# Rover Rate Control Parameters
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param set-default RO_YAW_RATE_I 0.1
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param set-default RO_YAW_RATE_P 0.1
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param set-default RO_YAW_RATE_LIM 120
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param set-default RO_YAW_ACCEL_LIM 240
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param set-default RO_YAW_DECEL_LIM 1000
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param set-default RO_YAW_RATE_CORR 1.75
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param set-default RO_YAW_EXPO 0.85
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param set-default RO_YAW_SUPEXPO 0.3
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# Rover Attitude Control Parameters
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param set-default RO_YAW_P 5
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# Velocity Control Parameters
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param set-default RO_ACCEL_LIM 4
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param set-default RO_DECEL_LIM 6
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param set-default RO_JERK_LIM 10
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param set-default RO_MAX_THR_SPEED 3.1
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param set-default RO_SPEED_LIM 2.5
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param set-default RO_SPEED_I 0.01
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param set-default RO_SPEED_P 0.1
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param set-default RO_SPEED_RED 0.5
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# Pure Pursuit parameters
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param set-default PP_LOOKAHD_GAIN 0.5
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param set-default PP_LOOKAHD_MAX 10
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param set-default PP_LOOKAHD_MIN 1
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# Simulated sensors
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param set-default SENS_EN_MAGSIM 1
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# Actuator mapping
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param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
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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 103 # right wheel back
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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_FUNC3 102 # left wheel front
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param set-default SIM_GZ_WH_MIN3 70
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param set-default SIM_GZ_WH_MAX3 130
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param set-default SIM_GZ_WH_DIS3 100
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param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
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param set-default SIM_GZ_WH_MIN4 70
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param set-default SIM_GZ_WH_MAX4 130
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param set-default SIM_GZ_WH_DIS4 100
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param set-default SIM_GZ_WH_REV 0
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