rover: restructure airframes (#23506)

PX4 · Aug 7, 2024 · c8ff590 · c8ff590
1 parent 28a0de6
commit c8ff590
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Showing 11 changed files with 80 additions and 30 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Generic Rover Differential
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_differential_defaults
diff --git a/....d/airframes/50003_aion_robotics_r1_rover → ....d/airframes/50001_aion_robotics_r1_rover b/....d/airframes/50003_aion_robotics_r1_rover → ....d/airframes/50001_aion_robotics_r1_rover
@@ -15,9 +15,6 @@
 
 param set-default BAT1_N_CELLS 4
 
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-
 # Set geometry & output configration
 param set-default RBCLW_ADDRESS 128
 param set-default RBCLW_FUNC1 101

diff --git a/...d/airframes/50010_ackermann_rover_generic → ...d/airframes/51000_generic_rover_ackermann b/...d/airframes/50010_ackermann_rover_generic → ...d/airframes/51000_generic_rover_ackermann
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Generic ackermann rover
+# @name Generic Rover Ackermann
 #
 # @type Rover
 # @class Rover

diff --git a/ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho b/ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name Axial SCX10 2 Trail Honcho
+#
+# @url https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+param set-default BAT1_N_CELLS 3
+
+# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_MAX_ACCEL 0.5
+param set-default RA_MAX_JERK 10
+param set-default RA_MAX_SPEED 2.7
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_MAX_STR_RATE 270
+param set-default RA_MISS_VEL_DEF 2.7
+param set-default RA_MISS_VEL_GAIN 3.5
+param set-default RA_MISS_VEL_MIN 1
+param set-default RA_SPEED_I 0.1
+param set-default RA_SPEED_P 0.5
+param set-default RA_WHEEL_BASE 0.321
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1.5
diff --git a/....d/airframes/50000_generic_ground_vehicle → ....d/airframes/59000_generic_ground_vehicle b/....d/airframes/50000_generic_ground_vehicle → ....d/airframes/59000_generic_ground_vehicle
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Generic Ground Vehicle (Ackermann)
+# @name Generic Ground Vehicle (Deprecated)
 #
 # @type Rover
 # @class Rover

diff --git a/....d/airframes/50004_nxpcup_car_dfrobot_gpx → ....d/airframes/59001_nxpcup_car_dfrobot_gpx b/....d/airframes/50004_nxpcup_car_dfrobot_gpx → ....d/airframes/59001_nxpcup_car_dfrobot_gpx
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name NXP Cup car: DF Robot GPX
+# @name NXP Cup car: DF Robot GPX (Deprecated)
 
 #
 # @type Rover

diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -136,22 +136,27 @@ if(CONFIG_MODULES_VTOL_ATT_CONTROL)
 	)
 endif()
 
-if(CONFIG_MODULES_ROVER_POS_CONTROL)
+if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
-		50000_generic_ground_vehicle
-		50004_nxpcup_car_dfrobot_gpx
+		# [50000, 50999] Differential rovers
+		50000_generic_rover_differential
+		50001_aion_robotics_r1_rover
 	)
 endif()
 
-if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
+if(CONFIG_MODULES_ROVER_ACKERMANN)
 	px4_add_romfs_files(
-		50003_aion_robotics_r1_rover
+		# [51000, 51999] Ackermann rovers
+		51000_generic_rover_ackermann
+		51001_axial_scx10_2_trail_honcho
 	)
 endif()
 
-if(CONFIG_MODULES_ROVER_ACKERMANN)
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	px4_add_romfs_files(
-		50010_ackermann_rover_generic
+		# [59000, 59999] Rover position control (deprecated)
+		59000_generic_ground_vehicle
+		59001_nxpcup_car_dfrobot_gpx
 	)
 endif()
 

diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps b/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps
@@ -1,7 +1,7 @@
 #!/bin/sh
-# Standard apps for a ackermann drive rover.
+# Standard apps for an ackermann rover.
 
-# Start rover ackermann drive controller.
+# Start rover ackermann module.
 rover_ackermann start
 
 # Start Land Detector.

diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults
@@ -2,12 +2,10 @@
 # Ackermann rover parameters.
 
 set VEHICLE_TYPE rover_ackermann
-param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
-param set-default CA_AIRFRAME 5 # Rover (Ackermann)
-param set-default CA_R_REV 1 # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
+param set-default MAV_TYPE 10           # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 5         # Rover (Ackermann)
+param set-default CA_R_REV 1            # Motor is assumed to be reversible
+param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not flying
+param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01
-param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
-param set-default NAV_RCL_ACT 6 # Disarm on manual control loss
-param set-default COM_FAIL_ACT_T 1 # Delay before failsafe after rc loss
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_differential_apps b/ROMFS/px4fmu_common/init.d/rc.rover_differential_apps
@@ -1,7 +1,7 @@
 #!/bin/sh
-# Standard apps for a differential drive rover.
+# Standard apps for a differential rover.
 
-# Start rover differential drive controller.
+# Start rover differential module.
 rover_differential start
 
 # Start Land Detector.

diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults
@@ -2,9 +2,10 @@
 # Differential rover parameters.
 
 set VEHICLE_TYPE rover_differential
-
-param set-default MAV_TYPE 10     # MAV_TYPE_GROUND_ROVER
-param set-default CA_AIRFRAME 6   # Rover (Differential)
-param set-default CA_R_REV 3 	  # Right and left motors reversible
-param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
-param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not flying
+param set-default MAV_TYPE 10           # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 6         # Rover (Differential)
+param set-default CA_R_REV 3            # Right and left motors reversible
+param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not flying
+param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01