From 0272f59d0c3ae479d94081c922b31e8ccdf884d8 Mon Sep 17 00:00:00 2001 From: Rhys Mainwaring Date: Tue, 16 Jul 2024 13:38:01 +0100 Subject: [PATCH] Tools: autotest: add rover-omni3mecanum - Add frame rover-omni3mecanum. - Remove params with default values. Signed-off-by: Rhys Mainwaring --- .../default_params/rover-omni3mecanum.parm | 25 +++++++++++++++++++ Tools/autotest/pysim/vehicleinfo.py | 5 ++++ 2 files changed, 30 insertions(+) create mode 100644 Tools/autotest/default_params/rover-omni3mecanum.parm diff --git a/Tools/autotest/default_params/rover-omni3mecanum.parm b/Tools/autotest/default_params/rover-omni3mecanum.parm new file mode 100644 index 0000000000..3b5bfb1feb --- /dev/null +++ b/Tools/autotest/default_params/rover-omni3mecanum.parm @@ -0,0 +1,25 @@ +ACRO_TURN_RATE 300.000000 +ATC_SPEED_P 0.200000 +ATC_SPEED_D 0.000010 +ATC_STR_RAT_D 0.000010 +ATC_STR_RAT_FF 0.100000 +ATC_STR_RAT_I 0.010000 +ATC_STR_RAT_MAX 360.000000 +ATC_STR_RAT_P 0.030000 +CRUISE_SPEED 1.0 +CRUISE_THROTTLE 42.0 +FRAME_TYPE 4 +PSC_VEL_P 0.500000 +RC2_MAX 2000 +RC2_MIN 1000 +RC4_MAX 2000 +RC4_MIN 1000 +SERVO1_FUNCTION 33 +SERVO2_FUNCTION 34 +SERVO2_MAX 2000 +SERVO2_MIN 1000 +SERVO3_FUNCTION 35 +WP_PIVOT_RATE 120.0 +WP_SPEED 1.0 + + diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py index 73349731a3..ca07c51b8f 100644 --- a/Tools/autotest/pysim/vehicleinfo.py +++ b/Tools/autotest/pysim/vehicleinfo.py @@ -391,6 +391,11 @@ class VehicleInfo(object): "default_params_filename": ["default_params/rover.parm", "default_params/rover-skid.parm"], }, + "rover-omni3mecanum": { + "waf_target": "bin/ardurover", + "default_params_filename": ["default_params/rover.parm", + "default_params/rover-omni3mecanum.parm"], + }, "rover-vectored": { "waf_target": "bin/ardurover", "default_params_filename": ["default_params/rover.parm",