【Pixhawk】PX4添加麦克纳姆轮车架

PX4中提供了很多机架，但要开发PX4不支持的机架类型，需要我们自定义
比如麦克纳姆轮

1.在ROMFS/px4fmu_common/init.d/airframes/下添加*.hil机架文件(参考其他)

命名为70000_macanum.hil,数字得是其他车驾没用到的

#!/bin/sh
#
# @name HILStar (XPlane)
#
# @type Simulation
# @class Plane
#
# @output MAIN1 roll
# @output MAIN2 yaw
# @output MAIN3 throttle

#
# @maintainer Lorenz Meier <lorenz@px4.io>
# @board px4_fmu-v2 exclude
#

#算法使能脚本
. ${R}etc/init.d/rc.mac_apps

#使用3s电池
param set-default BAT1_N_CELLS 3

#航道起飞
param set-default RWTO_TKOFF 1

param set SYS_HITL 1

#取消一些解锁限制
# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027

#关联混控文件
set MIXER mac_rover

#加入Cmakelist.txt

. ${R}etc/init.d/rc.mac_apps 关联算法脚本
set MIXER mac_rover 关联混控文件

2.在ROMFS/px4fmu_common/init.d/下加入rc.*算法脚本

这里命名为rc.mac_rover,后缀与机架中相吻合

#!/bin/sh
#
# Standard apps for mecanum 
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#

#
# Start the attitude and position estimator.
#
ekf2 start &

#
# Start attitude controller.
#
mac_att_control start
#
# Start Land Detector.
#
land_detector start macanum

至于后面的主要工作,就是去实现mac_att_control(名字自定义)姿态控制算法了,不在这里讲述

3.在ROMFS/px4fmu_common/mixers/下加入*.main.mix混控文件

命名为mac_rover.main.mix,前缀与机架吻合

#左右平动:1轮和4轮方向一致,2轮和3轮方向一致,14与23相反(roll)
#左右转动:1轮和3轮方向一致,2轮和4轮方向一致,13与24相反(yaw)
#前进后退:四个轮子方向一致(throttle)

#Output 1: 
---------------------------------------
M:3
S: 0 0   10000   10000      0 -10000  10000
S: 0 2   -10000  -10000     0 -10000  10000
S: 0 3   0    20000    -10000 -10000  10000

#Output 2:
---------------------------------------
M: 3
S: 0 0   -10000  -10000     0 -10000  10000
S: 0 2   10000   10000      0 -10000  10000
S: 0 3   0    20000    -10000 -10000  10000

#Output 3: 
---------------------------------------
M:3
S: 0 0   -10000   -10000    0 -10000  10000
S: 0 2   -10000   -10000    0 -10000  10000
S: 0 3   0    20000    -10000 -10000  10000

#Output 4:
---------------------------------------
M: 3
S: 0 0   10000   10000      0 -10000  10000
S: 0 2   10000   10000      0 -10000  10000
S: 0 3   0    20000    -10000 -10000  10000

#加入Cmakelist.txt

轮子装配方式如下:

【注】:仅做记录,不讲原理