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a448e82798
- the values of the parameters GND_MAX_ANG and GND_WHEEL_BASE are outdated.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
38 lines
1000 B
Plaintext
38 lines
1000 B
Plaintext
Generic car mixer (eg DF Robot GPX:Asurada RC Car)
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===========================
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Designed for DF Robot GPX:Asurada
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This file defines mixers suitable for controlling a DF Robot GPX:Asurada rover using
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PX4FMU. The configuration assumes the steering is connected to PX4FMU
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servo outputs 1 and the motor speed controls to output 2 and 3. Output 0 is
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assumed to be unused.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 (roll), and 3 (thrust).
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See the README for more information on the scaler format.
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Output 0
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-----------------------------------------
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Z:
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Steering mixer using roll on output 1
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------------------------------------------
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M: 1
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S: 0 2 10000 10000 0 -10000 10000
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Output 2
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------------------------------------------
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M: 2
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S: 0 2 -500 -500 0 0 10000
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S: 0 3 10000 10000 0 -10000 10000
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Output 3
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------------------------------------------
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M: 2
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S: 0 2 500 500 0 0 10000
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S: 0 3 10000 10000 0 -10000 10000
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