Differential Rover: Update airframe architecture

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -3,7 +3,7 @@
 # @name Rover
 #
 
-. ${R}etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_ackermann_defaults
 
 param set-default GND_L1_DIST 5
 param set-default GND_L1_PERIOD 10

ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover

@@ -4,7 +4,7 @@
 # @type Rover
 # @class Rover
 
-. ${R}etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_differential_defaults
 
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -51,6 +51,10 @@ px4_add_romfs_files(
 	rc.thermal_cal
 	rc.rover_apps
 	rc.rover_defaults
+	rc.rover_differential_apps
+	rc.rover_differential_defaults
+	rc.rover_ackermann_apps
+	rc.rover_ackermann_defaults
 	rc.uuv_apps
 	rc.uuv_defaults
 	rc.vehicle_setup

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -13,7 +13,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_ackermann_defaults
 
 
 param set-default BAT1_N_CELLS 2

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_differential_defaults
 
 
 

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps

@@ -0,0 +1,28 @@
+#!/bin/sh
+#
+# Standard apps for unmanned ground vehicles (UGV).
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Start the attitude and position estimator.
+#
+ekf2 start &
+#attitude_estimator_q start
+#local_position_estimator start
+
+#
+# Start Control Allocator
+#
+control_allocator start
+
+#
+# Start attitude controllers.
+#
+rover_pos_control start
+
+#
+# Start Land Detector.
+#
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults

@@ -0,0 +1,22 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+set VEHICLE_TYPE rover_ackermann
+
+# MAV_TYPE_GROUND_ROVER 10
+param set-default MAV_TYPE 10
+
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+param set-default MIS_TAKEOFF_ALT 0.01
+
+param set-default NAV_ACC_RAD 2
+param set-default NAV_LOITER_RAD 2
+
+# Temporary.
+param set-default NAV_FW_ALT_RAD 1000

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -22,7 +22,6 @@ control_allocator start
 #
 rover_pos_control start
 
-
 #
 # Start Land Detector.
 #

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -0,0 +1,24 @@
+#!/bin/sh
+#
+# Standard apps for unmanned ground vehicles (UGV).
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Start the attitude and position estimator.
+#
+ekf2 start &
+#attitude_estimator_q start
+#local_position_estimator start
+
+#
+# Start manual rover differential drive controller.
+#
+# differential_drive_control start
+
+
+#
+# Start Land Detector.
+#
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+set VEHICLE_TYPE rover_differential
+
+# MAV_TYPE_GROUND_ROVER 10
+param set-default MAV_TYPE 10

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -23,6 +23,24 @@ then
 	. ${R}etc/init.d/rc.mc_apps
 fi
 
+#
+# Differential Rover setup.
+#
+if [ $VEHICLE_TYPE = rover_differential ]
+then
+	# Start standard UGV apps.
+	. ${R}etc/init.d/rc.rover_differential_apps
+fi
+
+#
+# Ackermann Rover setup.
+#
+if [ $VEHICLE_TYPE = rover_ackermann ]
+then
+	# Start standard UGV apps.
+	. ${R}etc/init.d/rc.rover_ackermann_apps
+fi
+
 #
 # UGV setup.
 #