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Rover position controller: Modernize implementation

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This commit moves the steering output from yaw to the roll channel to better reflect the lateral control input / reaction mapping. It also removes old unused parameters and modernizes the mainloop to remove unnecessary polling.
This commit is contained in:
Lorenz Meier
2021-02-13 20:39:40 +01:00
parent bb0b4db028
commit ec2cf70276
5 changed files with 59 additions and 82 deletions
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11
ROMFS/px4fmu_common/mixers/rover_diff_and_servo.main.mix
View File

@@ -13,25 +13,28 @@ Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 (ro
See the README for more information on the scaler format.
Output 0
Output 1 - Empty
-----------------------------------------
Z:
Steering mixer using roll on output 1
Output 2 - Steering mixer using yaw
------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000 5000
S: 0 2 10000 10000 0 -10000 10000
Output 2
Output 3 - Left row of wheels using yaw and throttle (1s rise time)
------------------------------------------
M: 2
O: 10000 10000 0 -10000 10000 10000
S: 0 2 -500 -500 0 0 10000
S: 0 3 10000 10000 0 -10000 10000
Output 3
Output 4 - Right row of wheels using yaw and throttle (1s rise time)
------------------------------------------
M: 2
O: 10000 10000 0 -10000 10000 10000
S: 0 2 500 500 0 0 10000
S: 0 3 10000 10000 0 -10000 10000

10
ROMFS/px4fmu_common/mixers/rover_generic.main.mix
View File

@@ -13,23 +13,25 @@ Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (ya
See the README for more information on the scaler format.
Output 0
Output 1: Empty
---------------------------------------
Z:
Steering mixer using roll on output 1
Output 2: Steering mixer using yaw, with 0.5s rise time
---------------------------------------
M: 1
O: 10000 10000 0 -10000 10000 5000
S: 0 2 10000 10000 0 -10000 10000
Output 2
Output 3: Empty
---------------------------------------
This mixer is empty.
Z:
Output 3
Output 4: Throttle with 2s rise time
---------------------------------------
M: 1
O: 10000 10000 0 -10000 10000 20000
S: 0 3 10000 10000 0 -10000 10000