Update PX4 Firmware metadata Wed Sep 11 12:42:40 UTC 2024

idorobotics · Sep 11, 2024 · 86dfc86 · 86dfc86
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Showing 11 changed files with 30 additions and 18 deletions.
diff --git a/en/advanced_config/parameter_reference.md b/en/advanced_config/parameter_reference.md
@@ -24691,16 +24691,26 @@ Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
 &nbsp; | 0 | 100 | 0.01 | 0.5 | m/s^3 
 
-### RD_MAX_SPEED (`FLOAT`) {#RD_MAX_SPEED}
+### RD_MAX_THR_SPD (`FLOAT`) {#RD_MAX_THR_SPD}
 
-Maximum speed the rover can drive.
+Speed the rover drives at maximum throttle.
 
-This parameter is used to map desired speeds to normalized motor commands.
+This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.
 
 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
 &nbsp; | 0 | 100 | 0.01 | 1 | m/s 
 
+### RD_MAX_THR_YAW_R (`FLOAT`) {#RD_MAX_THR_YAW_R}
+
+Yaw rate turning left/right wheels at max speed in opposite directions.
+
+This parameter is used to calculate the feedforward term of the closed loop yaw rate control. The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate. This desired speed difference is then linearly mapped to normalized motor commands. A good starting point is twice the speed the rover drives at maximum throttle (RD_MAX_THR_SPD)). Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.
+
+Reboot | minValue | maxValue | increment | default | unit
+--- | --- | --- | --- | --- | ---
+&nbsp; | 0 | 100 | 0.01 | 2 | m/s 
+
 ### RD_MAX_YAW_RATE (`FLOAT`) {#RD_MAX_YAW_RATE}
 
 Maximum allowed yaw rate for the rover.

diff --git a/en/msg_docs/RoverDifferentialStatus.md b/en/msg_docs/RoverDifferentialStatus.md
@@ -7,13 +7,15 @@
 ```c
 uint64 timestamp # time since system start (microseconds)
 
-float32 actual_speed	       # [m/s] Actual forward speed of the rover
-float32 actual_yaw_deg         # [deg] Actual yaw of the rover
-float32 actual_yaw_rate_deg_s  # [deg/s] Actual yaw rate of the rover
-float32 desired_yaw_rate_deg_s # [deg/s] Yaw rate setpoint for the closed loop yaw rate controller
-float32 pid_yaw_integral       # Integral of the PID for the closed loop yaw controller
-float32 pid_yaw_rate_integral  # Integral of the PID for the closed loop yaw rate controller
-float32 pid_throttle_integral  # Integral of the PID for the closed loop speed controller
+float32 actual_speed	         # [m/s] Actual forward speed of the rover
+float32 actual_yaw               # [rad] Actual yaw of the rover
+float32 actual_yaw_rate          # [rad/s] Actual yaw rate of the rover
+float32 desired_yaw_rate         # [rad/s] Yaw rate setpoint for the closed loop yaw rate controller
+float32 forward_speed_normalized # [-1, 1] Normalized forward speed setpoint
+float32 speed_diff_normalized    # [-1, 1] Normalized speed difference setpoint between the left and right motor
+float32 pid_yaw_integral         # Integral of the PID for the closed loop yaw controller
+float32 pid_yaw_rate_integral    # Integral of the PID for the closed loop yaw rate controller
+float32 pid_throttle_integral    # Integral of the PID for the closed loop speed controller
 
 # TOPICS rover_differential_status
 

diff --git a/public/config/failsafe/index.js b/public/config/failsafe/index.js
diff --git a/public/config/failsafe/index.wasm b/public/config/failsafe/index.wasm
diff --git a/public/config/failsafe/parameters.json b/public/config/failsafe/parameters.json
diff --git a/public/middleware/graph_full.json b/public/middleware/graph_full.json
diff --git a/public/middleware/graph_full_no_mavlink.json b/public/middleware/graph_full_no_mavlink.json
diff --git a/public/middleware/graph_px4_fmu-v2.json b/public/middleware/graph_px4_fmu-v2.json
diff --git a/public/middleware/graph_px4_fmu-v4.json b/public/middleware/graph_px4_fmu-v4.json
diff --git a/public/middleware/graph_px4_fmu-v5.json b/public/middleware/graph_px4_fmu-v5.json
diff --git a/public/middleware/graph_px4_sitl.json b/public/middleware/graph_px4_sitl.json