param file changed

ArduPilot · Dec 23, 2024 · c123c6c · c123c6c
1 parent a76a671
commit c123c6c
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diff --git a/...es/Webots_Python/controllers/ardupilot_vehicle_controller/ardupilot_vehicle_controller.py b/...es/Webots_Python/controllers/ardupilot_vehicle_controller/ardupilot_vehicle_controller.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 '''
 General ardupilot vehicle controller for Webots 2023a
 

diff --git a/libraries/SITL/examples/Webots_Python/params/blueboat.parm b/libraries/SITL/examples/Webots_Python/params/blueboat.parm
@@ -2,12 +2,22 @@ FRAME_CLASS      2          # Boat
 
 SERVO1_FUNCTION  73         # Throttle Left (Boat throttle channel)
 SERVO2_FUNCTION  74         # Throttle Right (Boat throttle channel)
-SERVO3_FUNCTION  0          # Disabled (no steering required)
-SERVO4_FUNCTION  0          # Disabled (no steering required)
+SERVO3_FUNCTION  0          
+SERVO4_FUNCTION  0          
+
+AHRS_EKF_TYPE    10         
+#ARMING_CHECK	 1045534    
+ARMING_CHECK	 0   
+MOT_THST_EXPO    0        
+MOT_THST_HOVER   0.5 
+
+
+WP_RADIUS            2         
+THR_MIN              0.1      
+THR_MAX              0.5     
+NAV_SPEED            0.5        
+
+LOITER_RADIUS        2         
 
-AHRS_EKF_TYPE    10         # Use sim AHRS
-#ARMING_CHECK	 1045534    # No RC requirements
-ARMING_CHECK	 0    # No RC requirements
-MOT_THST_EXPO    0.3        # Small motor exponential curve for smoother throttle
 SCHED_LOOP_RATE  300        
-INS_GYR_CAL      0          # No gyro calibration (use simulated or fixed values)
+INS_GYR_CAL      0       
diff --git a/libraries/SITL/examples/Webots_Python/worlds/ocean.wbt b/libraries/SITL/examples/Webots_Python/worlds/ocean.wbt
@@ -10,8 +10,10 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/project
 WorldInfo {
 }
 Viewpoint {
-  orientation 0.014070684209022785 0.5380415697049384 0.8428008573294974 0.653511022037878
-  position -16.38342404583264 -10.361964847206355 7.15186999901102
+  orientation -0.12997277781810504 -0.014747782753497403 0.9914078776820875 3.0946258742089046
+  position 67.66814374622646 -5.3848452357566945 18.759095946333453
+  follow "blueboat:NVIDIA Jetson Nano"
+  followType "Mounted Shot"
 }
 TexturedBackground {
 }
@@ -40,14 +42,16 @@ DEF WATER Fluid {
   locked TRUE
 }
 BlueBoat {
-  translation 0 0 0.5
-  rotation 0 0 1 2.61799
+  hidden linearVelocity_0 0.04605437445397912 -0.02744154506373335 -0.002509747995800293
+  hidden angularVelocity_0 -0.012779926080582746 0.0012120880314299375 0.6415018072934
+  translation -1.3403038805630583 -0.048175125799345894 0.37594258427657495
+  rotation -0.008236358707495133 0.0014828636523057368 -0.9999649811421549 -2.891061896201311
   controller "ardupilot_vehicle_controller"
   controllerArgs [
     "--motors"
     "left_motor, right_motor"
     "--motor-cap"
-    "10"
+    "5"
     "--bidirectional-motors"
     "true"
     "--camera"
@@ -78,7 +82,8 @@ BlueBoat {
   ]
 }
 OilBarrel {
-  translation 1.00864 7.46399 0.566329
+  hidden linearVelocity_0 0 0 7.783035268975111e-16
+  translation 1.00864 7.46399 0.5595498919704248
   rotation -0.17000006110990545 -0.9047921649529348 0.39044989110308337 1.752814691517513
   physics Physics {
     density 100
@@ -94,7 +99,8 @@ OilBarrel {
   ]
 }
 OilBarrel {
-  translation -10.052079249302796 2.4814946123187727 0.5595498919704249
+  hidden linearVelocity_0 0 0 1.4387456326881762e-15
+  translation -10.052079249302796 2.4814946123187727 0.5595498919704248
   rotation -0.2751145870612612 -0.6601107052655578 0.6989748355841716 -2.843723472604472
   name "oil barrel(1)"
   physics Physics {
@@ -111,7 +117,8 @@ OilBarrel {
   ]
 }
 OilBarrel {
-  translation -3.54718 -2.19833 1.05429
+  hidden linearVelocity_0 0 0 5.482079875807984e-16
+  translation -3.54718 -2.19833 0.5595498919704248
   rotation 0.9914248557443196 0.045597095586811014 0.12246493492588871 1.5859460279251565
   name "oil barrel(2)"
   physics Physics {
@@ -128,8 +135,10 @@ OilBarrel {
   ]
 }
 OilBarrel {
-  translation -2.90734 1.30062 0.563657
-  rotation 0.737839555282382 0.1439329283223751 -0.6594513650036995 -2.4506597166551938
+  hidden linearVelocity_0 -1.08694442085074e-322 1.08694442085074e-322 1.155141582192064e-08
+  hidden angularVelocity_0 -0.0012226523362456802 0.0005229336822436607 -4.3352970928539534e-20
+  translation -3.4722280212041934 1.4870501382882841 0.5595498971821902
+  rotation 0.3498858970739313 0.6169863850373342 -0.7049167750219404 2.9837711756378775
   name "oil barrel(3)"
   physics Physics {
     density 100