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unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175)

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This commit is contained in:
Marco Zorzi
2017-06-06 19:26:51 +02:00
committed by Daniel Agar
parent 184b190513
commit aef522553e
29 changed files with 2270 additions and 72 deletions
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73
posix-configs/SITL/init/ekf2/rover
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@@ -1,42 +1,52 @@
uorb start
param load
param set MAV_TYPE 1
param set SYS_AUTOSTART 3033
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 2
dataman start
param set BAT_N_CELLS 3
param set CAL_GYRO0_ID 2293768
param set CAL_ACC0_ID 1376264
param set CAL_ACC1_ID 1310728
param set CAL_MAG0_ID 196616
param set CAL_GYRO0_XOFF 0.01
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_ID 1310728
param set CAL_ACC1_XOFF 0.01
param set CAL_GYRO0_ID 2293768
param set CAL_GYRO0_XOFF 0.01
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.01
param set SENS_BOARD_ROT 0
param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 2.0
param set NAV_LOITER_RAD 10
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_MAG_TYPE 1
param set GND_L1_DIST 5
param set GND_SP_CTRL_MODE 1
param set GND_SPEED_D 3
param set GND_SPEED_I 0.001
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_P 0.25
param set GND_SPEED_THR_SC 1
param set GND_THR_CRUISE 0.3
param set GND_THR_IDLE 0
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set GND_SPEED_TRIM 4
param set GND_WR_D 1.2
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
param set GND_WR_P 2
param set MAV_TYPE 10
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set FW_THR_IDLE 0.0
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
param set FW_AIRSPD_MIN 0
param set FW_AIRSPD_TRIM 6
param set FW_AIRSPD_MAX 8
param set FW_PR_I 0.0
param set FW_RR_I 0.0
param set NAV_ACC_RAD 0.5
param set NAV_DLL_ACT 0
param set NAV_LOITER_RAD 2
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_AUTOSTART 50002
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
replay tryapplyparams
simulator start -s
tone_alarm start
@@ -50,23 +60,24 @@ pwm_out_sim mode_pwm
sleep 1
sensors start
commander start
land_detector start ugv
navigator start
ekf2 start
fw_pos_control_l1 start
fw_att_control start
land_detector start rover
gnd_pos_control start
gnd_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 80 -s ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
logger start -e -t
sdlog2 start -r 200 -e -t -a
mavlink boot_complete
replay trystart