R1 rover wheel friction model improved for stability of EKF2 while PX4 SITL is running. #1030
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…4 EKF2 while executing SITL
YongraeKim
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@kalebbennaveed can you try this? Looks like it might be the fix we needed |
Jaeyoung-Lim
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May 30, 2024
models/r1_rover/r1_rover.sdf.jinja
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| <hil_mode>false</hil_mode> | ||
| <hil_state_level>false</hil_state_level> | ||
| <enable_lockstep>true</enable_lockstep> | ||
| <enable_lockstep>false</enable_lockstep> |
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Is there a reason to disable lockstep?
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Ah.. that may be my mistake. As I remember, that wouldn't do effect on the sim stability. But i'll check on it.
Oh, I remembered again and checked it,
and i found that error message occurs on simulator_mavlink
which say 'ERROR [simulator_mavlink] poll timeout 0, 22' if enable_lockstep set to true.
* Add support for video capture and range zoom * Use MAV_RESULT_DENIED for bad params
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When differential rover rotates,
lateral friction forces acting on wheels are exaggerate too high to diverge EKF2 on PX4.
This can be reduced by setting and to small values(i.e 0.01, 0.05).
Some params for wheel friction simulations are also changed.
Please refer to the issue below
SITL R1 Rover Mission Mode spin around itself #21353