mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 01:33:33 +08:00
Jacob Dahl
ea8bcd9cef
* gz: use server config file for loading world plugins * submodule * use server.config in tree * newlines * format * gzbridge: rename function * format * gzbridge: add magnetometer callback * change gz_find_package to find_package * fix up directory structure and cmake to allow multiple plugins * newlines * add comment block explaining gz_env.sh * remove dupe readme * remove SENS_EN_MAGSIM from all gz airframe files except spacecraft * update gz submodule
95 lines
3.5 KiB
Bash
95 lines
3.5 KiB
Bash
#!/bin/sh
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# @name Gazebo lawnmower
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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=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
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param set-default SIM_GZ_EN 1 # Gazebo bridge
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# We can arm and drive in manual mode when it slides and GPS check fails:
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param set-default COM_ARM_WO_GPS 1
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# Rover parameters
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param set-default RD_WHEEL_TRACK 0.9
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param set-default RD_YAW_RATE_I 0.1
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param set-default RD_YAW_RATE_P 5
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param set-default RD_MAX_ACCEL 1
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param set-default RD_MAX_JERK 3
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param set-default RD_MAX_SPEED 8
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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_YAW_RATE 30
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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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# 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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# Actuator mapping - set SITL motors/servos output parameters:
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# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
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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 0
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#param set-default SIM_GZ_WH_MAX1 200
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#param set-default SIM_GZ_WH_DIS1 100
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#param set-default SIM_GZ_WH_FAIL1 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 0
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#param set-default SIM_GZ_WH_MAX2 200
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#param set-default SIM_GZ_WH_DIS2 100
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#param set-default SIM_GZ_WH_FAIL2 100
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param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
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# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
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# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
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# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
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# controls in practical scenarios.
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# Cutter deck blades clutch, PCA9685 servo channel 3, "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
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param set-default SIM_GZ_SV_FUNC1 201
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param set-default SIM_GZ_SV_MIN1 0
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param set-default SIM_GZ_SV_MAX1 1000
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param set-default SIM_GZ_SV_DIS1 500
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param set-default SIM_GZ_SV_FAIL1 500
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param set-default SIM_GZ_SV_MAXA1 90
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param set-default SIM_GZ_SV_MINA1 -90
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# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
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# - on minimum when disarmed or failed:
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param set-default SIM_GZ_SV_FUNC2 202
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param set-default SIM_GZ_SV_MIN2 0
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param set-default SIM_GZ_SV_MAX2 1000
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param set-default SIM_GZ_SV_DIS2 500
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param set-default SIM_GZ_SV_FAIL2 500
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param set-default SIM_GZ_SV_MAXA2 90
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param set-default SIM_GZ_SV_MINA2 -90
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param set-default CA_SV_CS_COUNT 2
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# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
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# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
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#param set-default SIM_GZ_SV_FUNC5 205
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#param set-default SIM_GZ_SV_MIN5 1000
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#param set-default SIM_GZ_SV_MAX5 2000
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#param set-default SIM_GZ_SV_DIS5 1000
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#param set-default SIM_GZ_SV_FAIL5 1000
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# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
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#param set-default SIM_GZ_SV_FUNC6 206
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# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
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#param set-default SIM_GZ_SV_FUNC7 207
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# Spare PCA9685 servo channel 8 - "Servo 8" (208):
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#param set-default SIM_GZ_SV_FUNC8 208
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