differential: update airframe tuning

PX4 · Nov 11, 2024 · f5ec267 · f5ec267
1 parent 1e51b5b
commit f5ec267
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Showing 3 changed files with 33 additions and 31 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
@@ -13,22 +13,23 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 
 # Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_MAX_ACCEL 6
+param set-default RD_MAX_ACCEL 5
+param set-default RD_MAX_DECEL 10
 param set-default RD_MAX_JERK 30
-param set-default RD_MAX_THR_YAW_R 5
-param set-default RD_YAW_RATE_P 0.1
-param set-default RD_YAW_RATE_I 0
+param set-default RD_MAX_THR_YAW_R 1.5
+param set-default RD_YAW_RATE_P 0.25
+param set-default RD_YAW_RATE_I 0.01
 param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0
-param set-default RD_MAX_SPEED 5
-param set-default RD_MAX_THR_SPD 7
-param set-default RD_SPEED_P 1
-param set-default RD_SPEED_I 0
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_SPEED 2
+param set-default RD_MAX_THR_SPD 2.15
+param set-default RD_SPEED_P 0.1
+param set-default RD_SPEED_I 0.01
 param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 5
+param set-default RD_MISS_SPD_DEF 2
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_MAX_YAW_ACCEL 1000
 
 # Pure pursuit parameters
 param set-default PP_LOOKAHD_MAX 30
@@ -43,13 +44,13 @@ param set-default SENS_EN_ARSPDSIM 0
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 0
-param set-default SIM_GZ_WH_MAX2 200
+param set-default SIM_GZ_WH_MIN2 70
+param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100
 
 param set-default SIM_GZ_WH_REV 1 # reverse right wheel
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower b/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
@@ -21,7 +21,6 @@ param set-default COM_ARM_WO_GPS 1
 
 # Rover parameters
 param set-default RD_WHEEL_TRACK 0.9
-param set-default RD_MAN_YAW_SCALE 0.1
 param set-default RD_YAW_RATE_I 0.1
 param set-default RD_YAW_RATE_P 5
 param set-default RD_MAX_ACCEL 1

diff --git a/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
@@ -23,22 +23,24 @@ param set-default RBCLW_REV 1 # reverse right wheels
 
 # Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAN_YAW_SCALE 1
-param set-default RD_MAX_ACCEL 5
-param set-default RD_MAX_JERK 10
-param set-default RD_MAX_THR_YAW_R 4
-param set-default RD_YAW_RATE_P 0.1
-param set-default RD_YAW_RATE_I 0
+param set-default RD_MAX_ACCEL 3
+param set-default RD_MAX_DECEL 4
+param set-default RD_MAX_JERK 5
+param set-default RD_MAX_SPEED 1.6
+param set-default RD_MAX_THR_SPD 1.9
+param set-default RD_MAX_THR_YAW_R 0.7
+param set-default RD_MAX_YAW_ACCEL 600
+param set-default RD_MAX_YAW_RATE 250
+param set-default RD_MISS_SPD_DEF 1.5
+param set-default RD_SPEED_P 0.1
+param set-default RD_SPEED_I 0.01
+param set-default RD_TRANS_DRV_TRN 0.785398
+param set-default RD_TRANS_TRN_DRV 0.139626
 param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0
-param set-default RD_MAX_SPEED 1.8
-param set-default RD_MAX_THR_SPD 2
-param set-default RD_SPEED_P 0.5
-param set-default RD_SPEED_I 0.1
-param set-default RD_MAX_YAW_RATE 300
-param set-default RD_MISS_SPD_DEF 1.8
-param set-default RD_TRANS_DRV_TRN 0.349066
-param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_YAW_I 0.1
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0.01
+
 
 # Pure pursuit parameters
 param set-default PP_LOOKAHD_MAX 10