PX4-Autopilot/src/modules/rover_differential/module.yaml

module_name: Rover Differential

parameters:
  - group: Rover Differential
    definitions:

      RD_WHEEL_TRACK:
        description:
          short: Wheel track
          long: Distance from the center of the right wheel to the center of the left wheel
        type: float
        unit: m
        min: 0.001
        max: 100
        increment: 0.001
        decimal: 3
        default: 0.5

      RD_MAN_YAW_SCALE:
        description:
          short: Manual yaw rate scale
          long: |
            In manual mode the setpoint for the yaw rate received from the yaw stick
            is scaled by this value.
        type: float
        min: 0.001
        max: 1
        increment: 0.01
        decimal: 3
        default: 1

      RD_YAW_P:
        description:
          short: Proportional gain for closed loop yaw controller
        type: float
        min: 0
        max: 100
        increment: 0.01
        decimal: 3
        default: 1

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

      RD_SPEED_P:
        description:
          short: Proportional gain for closed loop forward speed controller
        type: float
        min: 0
        max: 100
        increment: 0.01
        decimal: 3
        default: 1

      RD_SPEED_I:
        description:
          short: Integral gain for closed loop forward speed controller
        type: float
        min: 0
        max: 100
        increment: 0.01
        decimal: 3
        default: 0

      RD_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: 1

      RD_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

      RD_MAX_JERK:
        description:
          short: Maximum jerk
          long: Limit for forwards acc/deceleration change.
        type: float
        unit: m/s^3
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 0.5

      RD_MAX_ACCEL:
        description:
          short: Maximum acceleration
          long: Maximum acceleration is used to limit the acceleration of the rover
        type: float
        unit: m/s^2
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 0.5

      RD_MAX_SPEED:
        description:
          short: Maximum speed the rover can drive
          long: This parameter is used to map desired speeds to normalized motor commands.
        type: float
        unit: m/s
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 1

      RD_MAX_YAW_RATE:
        description:
          short: Maximum allowed yaw rate for the rover
          long: |
            This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in acro mode.
        type: float
        unit: deg/s
        min: 0.01
        max: 1000
        increment: 0.01
        decimal: 2
        default: 90

      RD_MISS_SPD_DEF:
        description:
          short: Default forward speed for the rover during auto modes
        type: float
        unit: m/s
        min: 0
        max: 100
        increment: 0.01
        decimal: 2
        default: 1

      RD_TRANS_TRN_DRV:
        description:
            short: Yaw error threshhold to switch from spot turning to driving
        type: float
        unit: rad
        min: 0.001
        max: 3.14159
        increment: 0.01
        decimal: 3
        default: 0.0872665

      RD_TRANS_DRV_TRN:
        description:
            short: Yaw error threshhold to switch from driving to spot turning
            long: |
              This threshold is used for the state machine to switch from driving to turning based on the
              error between the desired and actual yaw. It is also used as the threshold whether the rover should come
              to a smooth stop at the next waypoint. This slow down effect is active if the angle between the
              line segments from prevWP-currWP and currWP-nextWP is smaller then 180 - RD_TRANS_DRV_TRN.
        type: float
        unit: rad
        min: 0.001
        max: 3.14159
        increment: 0.01
        decimal: 3
        default: 0.174533