-
Notifications
You must be signed in to change notification settings - Fork 18
Configuring
All configuration options reside in burro/burro/config.py.
Depending on your camera and vehicle setup you may wish to calibrate the max steering angle (CAR_MAX_STEERING_ANGLE) and camera horizontal FOV (CAMERA_HORIZONTAL_FOV). These are currently not so important but will become in the future. You may also wish to configure the throttle threshold value above which images are recorded.
By default Burro outputs throttle on channel 2 of the NAVIO2 rail, and steering on channel 0. These are channel 3 and one correspondingly, as marked on the NAVIO2 board. You may wish to change this depending on your config. Depending on your vehicle servo and motor, you may also wish/need to calibrate the PWM output ranges.
RC Input channels are as follows: 0 - Yaw (i.e. steering), 2 - Throttle, 4 - Arm. Yaw, throttle and arm channel are configurable via config.py. Each time the RC controller is armed, a neutral point calibration is performed. Thus, you only need to make sure that your sticks are center before arming the car.
Depending on the connection of your motor wires to your board you may wish to change the direction of the motors by changing the LEFT_MOTOR_REVERSE and RIGHT_MOTOR_REVERSE options. If you notice that your car does not go completely straight, you may adjust the left and right motor multipliers through the LEFT_MOTOR_MULT and RIGHT_MOTOR_MULT options.