Rover docs update #3602
Rover docs update #3602
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| [MAV_CMD_MISSION_START]: https://mavlink.io/en/messages/common.html#MAV_CMD_MISSION_START | ||
| [MAV_CMD_NAV_WAYPOINT]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT | ||
| [MAV_CMD_NAV_RETURN_TO_LAUNCH]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RETURN_TO_LAUNCH | ||
| [MAV_CMD_NAV_DELAY]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_DELAY |
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@chfriedrich98 Delays are no longer supported? Seems a significant omission - it is not uncommon to need to wait. One use case is when you have payload or camera behaviour that takes a while - waiting can hold you at the waypoint while that stuff happens. Not blocking this PR of course :-)
| @@ -19,23 +19,23 @@ Manual modes require stick inputs from the user to drive the vehicle. | |||
| The sticks provide the same "high level" control effects over direction and rate of movement in all manual modes: | |||
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| - `Left stick up/down`: Drive the rover forwards/backwards (controlling speed) | |||
| - `Right stick left/right`: Make a left/right turn (controlling steering angle ([Manual mode](#manual-mode)) or lateral acceleration ([Acro](#acro-mode) and [Position](#position-mode))). | |||
| - `Right stick left/right`: Make a left/right turn (controlling steering angle ([Manual mode](#manual-mode)) or yaw rate ([Acro](#acro-mode) and [Position](#position-mode))). | |||
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[Manual Controls] image above still shows lateral acceleration. Can you fix up in a follow on PR?
| | Mode | Features | | ||
| | -------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | ||
| | [Manual](#manual-mode) | No autopilot support. User is responsible for keeping the rover on the desired course and maintaining speed and rate of turn. | | ||
| | [Acro](#acro-mode) | + Maintains the yaw rate (This makes it feel more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (Protects against roll over). | |
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Can you please add entry for Stabilized Mode as a follow up PR.
| | -------------------------- | ------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------- | | ||
| | [Manual](#manual-mode) | Directly map stick input to motor command. | Directly map stick input to steering angle. | None. | | ||
| | [Acro](#acro-mode) | Directly map stick input to motor command. | Stick input creates a yaw rate setpoint for the control system to regulate. | yaw rate. | | ||
| | [Position](#position-mode) | Stick input creates a speed setpoint for the control system to regulate. | Stick input creates a yaw rate setpoint for the control system to regulate. If this setpoint is zero (stick is centered) the control system will keep the rover driving in a straight line. | yaw rate, yaw, speed and global position (GPS). | |
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Missing stabilized mode.
en/config_rover/mecanum.md
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| Unlike the feed-forward part of the controller, the closed loop yaw rate control will compare the yaw rate setpoint with the measured yaw rate and adapt to motor commands based on the error between them. | ||
| The proportional gain is multiplied with this error and that value is added to the motor command. | ||
| This compensates for disturbances such as uneven ground and external forces. | ||
| This way disturbances like uneven grounds or external forces can be compensated. |
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Original was better English.
en/config_rover/differential.md
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| An integrator might not be neccessary at this stage, but it will become important for subsequent modes. | ||
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| 1. (Optional) [RO_YAW_ACCEL_LIM](#RO_YAW_ACCEL_LIM) and [RO_YAW_DECEL_LIM](#RO_YAW_DECEL_LIM) [deg/s^2]: This is the maximum yaw acceleration and deceleration you want to allow for your rover. |
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There is something not quite right about the following sentence. I'll have a shot at fixing it, but can you check it.
Changed to
This can be used to smooth the
yaw_ratesetpoints and make their trajectory feasible based on the physical limitations of the rover.
It also improves tracking and avoid integrator build up.
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No flaws found |
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Thanks very much @chfriedrich98 - looks great. There are a few minor fixes needed (see suggestions) but since this cleans up many of the reported link errors I'm going to merge. |
Update rover docs:. The following PRs refactored all the rover modules to a common code architecture:
This included combining parameters and uORB messages that are shared among the modules under common names.
(i.e.
RA_MAX_THR_SPD,RD_MAX_THR_SPDandRM_MAX_THR_SPDtoRO_MAX_THR_SPD. )This PR updates the parameter names and any references to the uORB messages in the documentation.
Additionally PX4/PX4-Autopilot#24285 changed the rate control for ackermann rovers from
lateral accelerationtoyaw rateto bring in line with the other modules. It also added support for the manualstabilizedmode for ackermann modules.This PR adds documentation for these changes and additions for ackermann rovers.
Further includes other minor updates and improvements to rover related documentation.