mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 14:53:35 +08:00
Katrin
a448e82798
- the values of the parameters GND_MAX_ANG and GND_WHEEL_BASE are outdated. They belonged to another Rover setup. - in the mixer file rover_diff_and_servo.main.mix the steering was controlled by roll, but in PX4 rover steering is controlled by yaw. And this was the reason why the attitude control did not work correctly - the DF Robot GPX:Asurada rover has actual a steering angle of 60 degrees. And and wheel base of 0.17m. Parameter values in the airframe file are changed to this values
81 lines
1.7 KiB
Bash
81 lines
1.7 KiB
Bash
#!/bin/sh
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#
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# @name DF Robot GPX:Asurada
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#
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# @type Rover
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# @class Rover
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#
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# @board px4_fmu-v2 exclude
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#
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# @output MAIN2 Steering servo
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# @output MAIN3 Speed of left wheels
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# @output MAIN4 Speed of right wheels
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#
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# @maintainer Katrin Moritz
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#
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# @board px4_fmu-v2 exclude
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# @board intel_aerofc-v1 exclude
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# @board bitcraze_crazyflie exclude
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#
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sh /etc/init.d/rc.rover_defaults
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if [ $AUTOCNF = yes ]
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then
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param set BAT_N_CELLS 2
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_MAG_TYPE 1
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param set FW_AIRSPD_MIN 0
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param set FW_AIRSPD_TRIM 1
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param set FW_AIRSPD_MAX 3
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param set GND_THR_IDLE 0
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param set GND_THR_CRUISE 0
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param set GND_THR_MAX 0.5
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# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
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param set GND_MAX_ANG 1.042
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param set GND_WHEEL_BASE 0.17
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# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
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# to support negative throttle.
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param set GND_THR_MIN 0.0
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param set GND_SPEED_P 0.25
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param set GND_SPEED_I 3
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param set GND_SPEED_D 0.001
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param set GND_SPEED_IMAX 0.125
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param set GND_SPEED_THR_SC 1
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param set MIS_LTRMIN_ALT 0.01
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param set MIS_TAKEOFF_ALT 0.01
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param set NAV_ACC_RAD 0.5
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# Provide ESC a constant 1500 us pulse to idle
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param set PWM_DISARMED 1500
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param set PWM_MAIN_DIS3 1485
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param set PWM_MAIN_DIS4 1485
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param set PWM_MAIN_FAIL3 1485
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param set PWM_MAIN_FAIL4 1485
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param set PWM_MAX 2000
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param set PWM_MIN 1000
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param set PWM_MAIN_MIN3 970
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param set PWM_MAIN_MIN4 970
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# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
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param set CBRK_AIRSPD_CHK 162128
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fi
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# Configure this as rover
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set MAV_TYPE 10
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# Set mixer
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set MIXER rover_diff_and_servo
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set PWM_MAIN_REV2 1
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