SITL: add Omni3Mecanum vehicle to SIM_Rover #27581
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rmackay9
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Jul 18, 2024
| CRUISE_THROTTLE 42.0 | ||
| FRAME_TYPE 4 | ||
| PSC_VEL_P 0.500000 | ||
| RC1_MAX 2000 |
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Hi @srmainwaring, thanks for this. Normally we don't add items to the param file that are the same as the defaults. I suspect we don't need these RCx_MIN/MAX values nor the SERVOx_MIN/TRIM/MAX
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- Add frame rover-omni3mecanum. - Remove params with default values. Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
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peterbarker
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Merged, thjanks! |
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Add an Omni3 Mecanum vehicle to SIM_Rover
Partially completes #11782
Details
rover-omni3mecanumto sim_vehicle.Note the dynamics in SIM_Rover is not an independent test of the Omni3Mecanum mixer as it uses the same kinematics calculation for mapping body motion to wheel angular velocities.
Testing
Run SITL with the new frame type
Move the rover in
MANUALmode using the RC override commands:rc 1 1550, yaw left:rc 1 1450rc 3 1600, move back:rc 3 1400rc 4 1600, move left:rc 4 1400