You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
72 lines
2.1 KiB
72 lines
2.1 KiB
#!/bin/sh
|
|
# @name Rover Ackermann
|
|
# @type Rover
|
|
# @class Rover
|
|
|
|
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
|
|
|
set VEHICLE_TYPE rover_ackermann
|
|
param set-default CA_AIRFRAME 5 # Rover (Ackermann)
|
|
param set-default CA_R_REV 1 # Motor is assumed to be reversible
|
|
param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not driving
|
|
param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
|
|
param set-default EKF2_GBIAS_INIT 0.01
|
|
param set-default EKF2_ANGERR_INIT 0.01
|
|
|
|
|
|
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
|
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
|
|
|
|
param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
|
|
|
|
param set-default PWM_MAIN_FUNC1 201 # Steering
|
|
param set-default PWM_MAIN_FUNC2 101 # Throttle
|
|
param set-default SIH_MASS 20
|
|
param set-default SIH_IXX 0.4333
|
|
param set-default SIH_IYY 1.6833
|
|
param set-default SIH_IZZ 2.0833
|
|
param set-default SIH_IXZ 0
|
|
param set-default SIH_KDV 50
|
|
param set-default SIH_KDW 10
|
|
|
|
param set-default SENS_EN_GPSSIM 1
|
|
param set-default SENS_EN_BAROSIM 1
|
|
param set-default SENS_EN_MAGSIM 1
|
|
|
|
# Ackermann Parameters
|
|
param set-default RA_WHEEL_BASE 0.321
|
|
param set-default RA_ACC_RAD_GAIN 2
|
|
param set-default RA_ACC_RAD_MAX 3
|
|
param set-default RA_MAX_STR_ANG 0.5236
|
|
param set-default RA_STR_RATE_LIM 360
|
|
|
|
# Rate Control Parameters
|
|
param set-default RO_YAW_RATE_I 0.01
|
|
param set-default RO_YAW_RATE_P 0.25
|
|
param set-default RO_YAW_RATE_LIM 180
|
|
param set-default RO_YAW_ACCEL_LIM 400
|
|
param set-default RO_YAW_DECEL_LIM 800
|
|
param set-default RO_YAW_RATE_CORR 1
|
|
|
|
# Attitude Control Parameters
|
|
param set-default RO_YAW_P 5
|
|
|
|
# Velocity Control Parameters
|
|
param set-default RO_ACCEL_LIM 3
|
|
param set-default RO_DECEL_LIM 3
|
|
param set-default RO_JERK_LIM 10
|
|
param set-default RO_MAX_THR_SPEED 3.2
|
|
param set-default RO_SPEED_LIM 3
|
|
param set-default RO_SPEED_I 0.001
|
|
param set-default RO_SPEED_P 0.001
|
|
param set-default RO_SPEED_RED 1
|
|
|
|
# Pure Pursuit parameters
|
|
param set-default PP_LOOKAHD_GAIN 1
|
|
param set-default PP_LOOKAHD_MAX 10
|
|
param set-default PP_LOOKAHD_MIN 1
|
|
|
|
# Pure Pursuit parameters
|
|
param set-default PP_LOOKAHD_GAIN 1
|
|
param set-default PP_LOOKAHD_MAX 10
|
|
param set-default PP_LOOKAHD_MIN 1
|
|
|