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* Added Aion R1 airframe * Tuned PID values for Aion R1 * Changed to generic mixer and cleaned up configurationsbg
Timothy Scott
6 years ago
committed by
Daniel Agar
4 changed files with 100 additions and 0 deletions
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#!/bin/sh |
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# |
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# @name Aion Robotics R1 UGV |
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# |
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# @url http://docs.aionrobotics.com/en/latest/r1-ugv.html |
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# |
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# @type Rover |
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# @class Rover |
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# |
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# @output MAIN0 Speed of left wheels |
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# @output MAIN1 Speed of right wheels |
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# |
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# @maintainer Timothy Scott |
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# |
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# @board px4_fmu-v2 exclude |
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# |
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sh /etc/init.d/rc.ugv_defaults |
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if [ $AUTOCNF = yes ] |
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then |
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param set BAT_N_CELLS 4 |
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param set EKF2_GBIAS_INIT 0.01 |
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param set EKF2_ANGERR_INIT 0.01 |
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param set EKF2_MAG_TYPE 1 |
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param set FW_AIRSPD_MIN 0 |
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param set FW_AIRSPD_TRIM 1 |
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param set FW_AIRSPD_MAX 3 |
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param set GND_WR_P 1 |
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param set GND_WR_I 0.9674 |
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param set GND_WR_IMAX 0.1 |
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param set GND_WR_D 0.1 |
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param set GND_SP_CTRL_MODE 1 |
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param set GND_L1_DIST 10 |
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param set GND_THR_IDLE 0 |
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param set GND_THR_CRUISE 0 |
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param set GND_THR_MAX 0.5 |
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# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase |
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# to support negative throttle. |
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param set GND_THR_MIN 0.0 |
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param set GND_SPEED_P 0.25 |
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param set GND_SPEED_I 0.001 |
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param set GND_SPEED_D 3 |
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param set GND_SPEED_IMAX 0.125 |
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param set GND_SPEED_THR_SC 1 |
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param set MIS_LTRMIN_ALT 0.01 |
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param set MIS_TAKEOFF_ALT 0.01 |
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param set NAV_ACC_RAD 0.5 |
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# Provide ESC a constant 1500 us pulse, which corresponds to |
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# idle on the Roboclaw motor controller on the Aion R1 |
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param set PWM_DISARMED 1500 |
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param set PWM_MAIN_DIS0 1500 |
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param set PWM_MAIN_DIS1 1500 |
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param set PWM_MAX 2000 |
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param set PWM_MIN 1000 |
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# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor |
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param set CBRK_AIRSPD_CHK 162128 |
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fi |
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# Configure this as ugv |
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set MAV_TYPE 10 |
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# Set mixer |
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set MIXER generic_differential_rover |
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set PWM_MAIN_REV2 1 |
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Generic differential-drive rover |
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=========================== |
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This mixer is suitable for controlling any differential-drive rover. That is, |
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a rover where the left wheels and right wheels are driven independently, |
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allowing turning in place. It outputs to channels 0 (left wheels) and |
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1 (right wheels) |
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust). |
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See the README for more information on the scaler format. |
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Throttle of left wheels of rover on Output 0 |
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--------------------------------------- |
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M: 2 |
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S: 0 2 10000 10000 0 -10000 10000 |
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S: 0 3 10000 10000 0 -10000 10000 |
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Throttle of right wheels of rover on Output 1 |
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--------------------------------------- |
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M: 2 |
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S: 0 2 -10000 -10000 0 -10000 10000 |
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S: 0 3 10000 10000 0 -10000 10000 |
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