From d78a842ca802396c4d0d88ca6d17c9ddd0e4d770 Mon Sep 17 00:00:00 2001
From: Timothy Scott <timjimski@gmail.com>
Date: Fri, 17 May 2019 14:51:16 +0200
Subject: [PATCH] Rover: add airframe configuration for Aion R1 Rover (#12026)

* Added Aion R1 airframe
* Tuned PID values for Aion R1
* Changed to generic mixer and cleaned up configuration
---
 .../airframes/50003_aion_robotics_r1_rover    | 73 +++++++++++++++++++
 .../init.d/airframes/CMakeLists.txt           |  1 +
 ROMFS/px4fmu_common/mixers/CMakeLists.txt     |  1 +
 .../generic_differential_rover.main.mix       | 25 +++++++
 4 files changed, 100 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
 create mode 100644 ROMFS/px4fmu_common/mixers/generic_differential_rover.main.mix

diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
new file mode 100644
index 0000000000..cd3faa7dd2
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
@@ -0,0 +1,73 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 UGV
+#
+# @url http://docs.aionrobotics.com/en/latest/r1-ugv.html
+#
+# @type Rover
+# @class Rover
+#
+# @output MAIN0 Speed of left wheels
+# @output MAIN1 Speed of right wheels
+#
+# @maintainer Timothy Scott
+#
+# @board px4_fmu-v2 exclude
+#
+
+sh /etc/init.d/rc.ugv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 4
+
+	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 1
+	param set FW_AIRSPD_MAX 3
+
+	param set GND_WR_P 1
+	param set GND_WR_I 0.9674
+	param set GND_WR_IMAX 0.1
+	param set GND_WR_D 0.1
+	param set GND_SP_CTRL_MODE 1
+	param set GND_L1_DIST 10
+	param set GND_THR_IDLE 0
+	param set GND_THR_CRUISE 0
+	param set GND_THR_MAX 0.5
+	# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+	# to support negative throttle.
+	param set GND_THR_MIN 0.0
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_D 3
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_THR_SC 1
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+
+	param set NAV_ACC_RAD 0.5
+
+	# Provide ESC a constant 1500 us pulse, which corresponds to
+	# idle on the Roboclaw motor controller on the Aion R1
+	param set PWM_DISARMED 1500
+	param set PWM_MAIN_DIS0 1500
+	param set PWM_MAIN_DIS1 1500
+	param set PWM_MAX 2000
+	param set PWM_MIN 1000
+
+	# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+fi
+
+# Configure this as ugv
+set MAV_TYPE 10
+
+# Set mixer
+set MIXER generic_differential_rover
+
+set PWM_MAIN_REV2 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
index fca7f6e709..49c0fff59d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -141,4 +141,5 @@ px4_add_romfs_files(
 	50000_generic_ground_vehicle
 	50001_axialracing_ax10
 	50002_traxxas_stampede_2wd
+	50003_aion_robotics_r1_rover
 )
diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
index ed45ced5d1..77634fdd86 100644
--- a/ROMFS/px4fmu_common/mixers/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
@@ -52,6 +52,7 @@ px4_add_romfs_files(
 	firefly6.main.mix
 	fw_generic_wing.main.mix
 	FX79.main.mix
+	generic_differential_rover.main.mix
 	hexa_cox.main.mix
 	hexa_+.main.mix
 	hexa_x.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/generic_differential_rover.main.mix b/ROMFS/px4fmu_common/mixers/generic_differential_rover.main.mix
new file mode 100644
index 0000000000..1efffff300
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/generic_differential_rover.main.mix
@@ -0,0 +1,25 @@
+Generic differential-drive rover
+===========================
+
+This mixer is suitable for controlling any differential-drive rover. That is,
+a rover where the left wheels and right wheels are driven independently,
+allowing turning in place. It outputs to channels 0 (left wheels) and
+1 (right wheels)
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+
+Throttle of left wheels of rover on Output 0
+---------------------------------------
+M: 2
+S: 0 2    10000   10000      0  -10000  10000
+S: 0 3    10000   10000      0  -10000  10000
+
+
+Throttle of right wheels of rover on Output 1
+---------------------------------------
+M: 2
+S: 0 2   -10000  -10000      0  -10000  10000
+S: 0 3    10000   10000      0  -10000  10000