PX4 · dagar · Jul 11, 2019 · May 23, 2019 · May 23, 2019 · May 24, 2019
diff --git a/ROMFS/px4fmu_common/init.d-posix/1060_rover b/ROMFS/px4fmu_common/init.d-posix/1060_rover
@@ -19,17 +19,17 @@ then
 	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0
-	param set GND_WR_D 1.2
-	param set GND_WR_I 0.9674
-	param set GND_WR_IMAX 0.1
-	param set GND_WR_P 2
 
 	param set MIS_LTRMIN_ALT 0.01
 	param set MIS_TAKEOFF_ALT 0.01
 	param set NAV_ACC_RAD 0.5
 	param set NAV_LOITER_RAD 2
 
 	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
 fi
 
 set MAV_TYPE 10

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
@@ -15,7 +15,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-sh /etc/init.d/rc.ugv_defaults
+sh /etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -29,15 +29,19 @@ then
 	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_L1_DIST 5.0
+	param set GND_L1_PERIOD 3.0
 	param set GND_THR_IDLE 0
-	param set GND_THR_CRUISE 0
+	param set GND_THR_CRUISE 0.7
 	param set GND_THR_MAX 0.5
+
+	# Because this is differential drive, it can make a turn with radius 0.
+	# This corresponds to a turn angle of pi radians.
+	# If a special case is made for differential-drive, this will need to change.
+	param set GND_MAX_ANG 3.142
+	param set GND_WHEEL_BASE 0.3
+
 	# 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
@@ -64,7 +68,7 @@ then
 	param set CBRK_AIRSPD_CHK 162128
 fi
 
-# Configure this as ugv
+# Configure this as rover
 set MAV_TYPE 10
 
 # Set mixer

diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_apps b/ROMFS/px4fmu_common/init.d/rc.rover_apps
@@ -16,8 +16,7 @@ ekf2 start
 #
 # Start attitude controllers.
 #
-gnd_att_control start
-gnd_pos_control start
+rover_pos_control start
 
 
 #

diff --git a/boards/aerotenna/ocpoc/ubuntu.cmake b/boards/aerotenna/ocpoc/ubuntu.cmake
@@ -37,8 +37,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake
@@ -58,8 +58,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/atlflight/eagle/default.cmake b/boards/atlflight/eagle/default.cmake
@@ -72,8 +72,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/atlflight/eagle/qurt-default.cmake b/boards/atlflight/eagle/qurt-default.cmake
@@ -66,8 +66,7 @@ px4_add_board(
 		ekf2
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		local_position_estimator

diff --git a/boards/atlflight/excelsior/default.cmake b/boards/atlflight/excelsior/default.cmake
@@ -72,8 +72,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/atlflight/excelsior/qurt-default.cmake b/boards/atlflight/excelsior/qurt-default.cmake
@@ -66,8 +66,7 @@ px4_add_board(
 		ekf2
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		local_position_estimator

diff --git a/boards/auav/x21/default.cmake b/boards/auav/x21/default.cmake
@@ -64,8 +64,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake
@@ -65,8 +65,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/beaglebone/blue/cross.cmake b/boards/beaglebone/blue/cross.cmake
@@ -36,8 +36,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/beaglebone/blue/native.cmake b/boards/beaglebone/blue/native.cmake
@@ -34,8 +34,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/bitcraze/crazyflie/default.cmake b/boards/bitcraze/crazyflie/default.cmake
@@ -25,8 +25,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/emlid/navio2/cross.cmake b/boards/emlid/navio2/cross.cmake
@@ -40,8 +40,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/emlid/navio2/native.cmake b/boards/emlid/navio2/native.cmake
@@ -38,8 +38,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake
@@ -41,8 +41,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/intel/aerofc-v1/rtps.cmake b/boards/intel/aerofc-v1/rtps.cmake
@@ -44,8 +44,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake
@@ -60,8 +60,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake
@@ -53,8 +53,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/parrot/bebop/default.cmake b/boards/parrot/bebop/default.cmake
@@ -28,8 +28,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake
@@ -73,8 +73,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		#landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v2/lpe.cmake b/boards/px4/fmu-v2/lpe.cmake
@@ -69,8 +69,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v2/rover.cmake b/boards/px4/fmu-v2/rover.cmake
@@ -42,8 +42,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		load_mon
 		logger

diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake
@@ -69,8 +69,7 @@ px4_add_board(
 		events
 		#fw_att_control
 		#fw_pos_control_l1
-		#gnd_att_control
-		#gnd_pos_control
+		#rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake
@@ -72,8 +72,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v3/rtps.cmake b/boards/px4/fmu-v3/rtps.cmake
@@ -71,8 +71,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v3/stackcheck.cmake b/boards/px4/fmu-v3/stackcheck.cmake
@@ -71,8 +71,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake
@@ -56,8 +56,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v4/rtps.cmake b/boards/px4/fmu-v4/rtps.cmake
@@ -58,8 +58,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake
@@ -56,8 +56,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake
@@ -70,8 +70,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v4pro/rtps.cmake b/boards/px4/fmu-v4pro/rtps.cmake
@@ -69,8 +69,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake
@@ -70,8 +70,7 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon

diff --git a/boards/px4/fmu-v5/rover.cmake b/boards/px4/fmu-v5/rover.cmake
@@ -53,8 +53,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		gnd_att_control
-		gnd_pos_control
+		rover_pos_control
 		land_detector
 		load_mon
 		logger