ardupilot/libraries/SITL/examples/Webots_Python/params/pioneer3at.parm

FRAME_CLASS      1          # Rover

SERVO1_FUNCTION  73         # (Throttle Left)
SERVO2_FUNCTION  73         
SERVO3_FUNCTION  74         # (Throttle Right)
SERVO4_FUNCTION  74         

AHRS_EKF_TYPE    10         # Use sim AHRS
ARMING_CHECK	 1045534    # No RC requirements
MOT_THST_EXPO    0          # No motor exponential
SCHED_LOOP_RATE  300        
INS_GYR_CAL      0
SITL: Add Webots 2023a support and examples The various C Webots controllers are replaced by a single Python controller - More readable (in my opinion) - Does not require compilation - Easily modifiable to run user code - Can be blackboxed and configured via arguments when designing a robot model - Optionally provides the ability to stream camera images over TCP - Generalizable to copters and rovers (and probably more) - Supports multi-vehicle simulation (including of multiple types) - Requires no non-standard libraries (neither does current) Higher fidelity example worlds - Iris quadcopter demo world similar to gazebo - Crazyflie quadcopter demo world (crazyflie models baked into webots) - Pioneer3at rover demo world (pioneer models baked into webots) 2023-01-21 21:11:37 -04:00			`FRAME_CLASS 1 # Rover`

			`SERVO1_FUNCTION 73 # (Throttle Left)`
			`SERVO2_FUNCTION 73`
			`SERVO3_FUNCTION 74 # (Throttle Right)`
			`SERVO4_FUNCTION 74`

			`AHRS_EKF_TYPE 10 # Use sim AHRS`
			`ARMING_CHECK 1045534 # No RC requirements`
			`MOT_THST_EXPO 0 # No motor exponential`
			`SCHED_LOOP_RATE 300`
			`INS_GYR_CAL 0`