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60 lines
1.6 KiB
60 lines
1.6 KiB
#!/bin/sh
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# @name Aion Robotics R1 Rover
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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=${PX4_GZ_WORLD:=rover}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
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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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# Differential Parameters
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param set-default RD_WHEEL_TRACK 0.3
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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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# Rover Control Parameters
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param set-default RO_ACCEL_LIM 5
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param set-default RO_DECEL_LIM 10
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param set-default RO_JERK_LIM 30
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param set-default RO_MAX_THR_SPEED 2.1
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# Rover Rate Control Parameters
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param set-default RO_YAW_RATE_I 0.01
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param set-default RO_YAW_RATE_P 0.25
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param set-default RO_YAW_RATE_LIM 180
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param set-default RO_YAW_ACCEL_LIM 120
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param set-default RO_YAW_DECEL_LIM 1000
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param set-default RO_YAW_RATE_CORR 1.43
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# Rover Attitude Control Parameters
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param set-default RO_YAW_P 5
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# Rover Velocity Control Parameters
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param set-default RO_SPEED_LIM 2
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param set-default RO_SPEED_I 0.01
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param set-default RO_SPEED_P 0.1
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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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# Actuator mapping
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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 70
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param set-default SIM_GZ_WH_MAX1 130
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param set-default SIM_GZ_WH_DIS1 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 70
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param set-default SIM_GZ_WH_MAX2 130
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param set-default SIM_GZ_WH_DIS2 100
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param set-default SIM_GZ_WH_REV 1 # reverse right wheel
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