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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 18:03:34 +08:00
61 lines
1.5 KiB
Bash
61 lines
1.5 KiB
Bash
#!/bin/sh
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# @name Rover Ackermann
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# @type Rover
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# @class Rover
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. ${R}etc/init.d/rc.rover_ackermann_defaults
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PX4_SIMULATOR=${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_ackermann}
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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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# Ackermann Parameters
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param set-default RA_WHEEL_BASE 0.321
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param set-default RA_ACC_RAD_GAIN 2
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param set-default RA_ACC_RAD_MAX 3
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param set-default RA_MAX_STR_ANG 0.5236
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param set-default RA_STR_RATE_LIM 360
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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 6
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param set-default RO_JERK_LIM 15
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param set-default RO_MAX_THR_SPEED 3.1
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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 1
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param set-default RO_YAW_RATE_LIM 180
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param set-default RO_YAW_RATE_CORR 1
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# Rover Attitude Control Parameters
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param set-default RO_YAW_P 3
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# Rover Velocity Control Parameters
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param set-default RO_SPEED_LIM 3
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param set-default RO_SPEED_I 0.1
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param set-default RO_SPEED_P 1
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param set-default RO_SPEED_RED 1
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# Pure Pursuit parameters
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param set-default PP_LOOKAHD_GAIN 1
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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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# Wheels
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param set-default SIM_GZ_WH_FUNC1 101
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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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# Steering
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param set-default SIM_GZ_SV_MAXA1 30
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param set-default SIM_GZ_SV_MINA1 -30
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param set-default CA_SV_CS_COUNT 1
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param set-default SIM_GZ_SV_FUNC1 201
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param set-default SIM_GZ_SV_REV 1
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