mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
d358ca1b32
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)
12 lines
376 B
Plaintext
12 lines
376 B
Plaintext
FRAME_CLASS 1 # Rover
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SERVO1_FUNCTION 73 # (Throttle Left)
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SERVO2_FUNCTION 73
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SERVO3_FUNCTION 74 # (Throttle Right)
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SERVO4_FUNCTION 74
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AHRS_EKF_TYPE 10 # Use sim AHRS
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ARMING_CHECK 1045534 # No RC requirements
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MOT_THST_EXPO 0 # No motor exponential
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SCHED_LOOP_RATE 300
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INS_GYR_CAL 0 |