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Rover Airframe 50004_dfrobot_gpx_asurada: Changing of physical parameter

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- the values of the parameters GND_MAX_ANG and GND_WHEEL_BASE are outdated. They belonged to another Rover setup.
 - in the mixer file rover_diff_and_servo.main.mix the steering was controlled by roll, but in PX4 rover steering is controlled by yaw. And this was the reason why the attitude control did not work correctly
 - the DF Robot GPX:Asurada rover has actual a steering angle of 60 degrees. And and wheel base of 0.17m. Parameter values in the airframe file are changed to this values
This commit is contained in:
Katrin
2020-07-29 03:34:12 +02:00
committed by GitHub
parent 18eccb0cbd
commit a448e82798
2 changed files with 6 additions and 11 deletions
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11
ROMFS/px4fmu_common/init.d/airframes/50004_dfrobot_gpx_asurada
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@@ -37,11 +37,9 @@ then
param set GND_THR_CRUISE 0
param set GND_THR_MAX 0.5
# Because this is differential drive, it can make a turn with radius 0.
# This corresponds to a turn angle of pi radians.
# If a special case is made for differential-drive, this will need to change.
param set GND_MAX_ANG 3.142
param set GND_WHEEL_BASE 0.3
# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
param set GND_MAX_ANG 1.042
param set GND_WHEEL_BASE 0.17
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# to support negative throttle.
@@ -71,9 +69,6 @@ then
# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
param set CBRK_AIRSPD_CHK 162128
# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
param set GND_MAX_ANG 3.1415
fi
# Configure this as rover

6
ROMFS/px4fmu_common/mixers/rover_diff_and_servo.main.mix
View File

@@ -20,18 +20,18 @@ Z:
Steering mixer using roll on output 1
------------------------------------------
M: 1
S: 0 0 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
Output 2
------------------------------------------
M: 2
S: 0 0 -500 -500 0 0 10000
S: 0 2 -500 -500 0 0 10000
S: 0 3 10000 10000 0 -10000 10000
Output 3
------------------------------------------
M: 2
S: 0 0 500 500 0 0 10000
S: 0 2 500 500 0 0 10000
S: 0 3 10000 10000 0 -10000 10000