final touches and fixes - error in ardupilot-gazebo plugin

README.md

@@ -12,8 +12,8 @@ Repository to simulate the Aquanaute boat in maritime conditions such as wind an
 
 ### ardupilot parameters
 
-in the file "vehiculeinfo.py" (/ardupilot/Tools/autotest/pysim) you need to change the default parameters file for the "gazebo-rover" in line 280 to the aquanaute.parm file provided in /aquanaute/aquanaute_description/ardu_params you can copy and paste the file in the default_params folder located inside (/ardupilot/Tools/autotest).
-*There is an error when you launch ardupilot, the motors in the gazebo simulation will start to turn in a fixed direction and wont respond to commands, this issue has not yet been fixed and it's root cause it's not yet defined, it may be the ardupilot_gazebo plugin or the ardupilot frame*
+in the file "vehiculeinfo.py" (/ardupilot/Tools/autotest/pysim) you need to change the default parameters file for the "gazebo-rover" in the line 280 to the aquanaute.parm file provided in /aquanaute/aquanaute_description/ardu_params you can copy and paste the file in the default_params folder located inside (/ardupilot/Tools/autotest).
+*There is an error when you launch ardupilot, the motors in the gazebo simulation will start to turn in a fixed direction and wont respond to commands, this issue has not yet been fixed and it's root cause has not yet been found, It's believed that the ardupilot-gazebo plugin doesnt know how to interpret the signals sended by ardupilot*
 
 ---
 
@@ -58,7 +58,8 @@ then launch the file you created
 
     roslaunch aquanaute_gazebo aquanaute.launch testing:=false
 
-this parameter can be changed to true to deactivate the plugins from vrx (the world will be changed to an empty world without gravity)
+this parameter can be changed to true to deactivate the plugins from vrx (the world will be changed to an empty world without gravity).  
+You will have an error "Missing Model.../dock_permutations) this is normal.
 
 #### ardupilot
 

aquanaute_description/ardu_params/aquanaute.parm

-FRAME_CLASS 2
-AHRS_ORIENTATIONM 0
-GCS_PID_MASK 1
-SERVO1_FUNCTION 26
-SERVO3_FUNCTION 70
-ARMING_CHECK 0
+ACRO_TURN_RATE,120
+ARMING_CHECK,0
+CRUISE_SPEED,2
+CRUISE_THROTTLE,20
+FRAME_CLASS,2
+SERVO1_FUNCTION,26
+SERVO1_MAX,1900
+SERVO1_MIN,1100
+SERVO1_REVERSED,1
+SERVO1_TRIM,1500
+SERVO3_FUNCTION,70
+SERVO3_MAX,1900
+SERVO3_MIN,1100
+SERVO3_REVERSED,0
+SERVO3_TRIM,1500
+SPEED_TURN_GAIN,50
+TURN_MAX_G,0.4
+WP_SPEED,4

aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro

@@ -82,14 +82,28 @@
 
             <control channel="0">
                 <type>POSITION</type>
-                <multiplier>1</multiplier>
+                <multiplier>100</multiplier> <!--ARBITRARY VALUES-->
                 <offset>0</offset>
+                <p_gain>1.0</p_gain>
+                <i_gain>0</i_gain>
+                <d_gain>0</d_gain>
+                <i_max>0</i_max>
+                <i_min>0</i_min>
+                <cmd_max>3.5</cmd_max>
+                <cmd_min>-3.5</cmd_min>
                 <jointName>aquanaute::motor_platform_joint</jointName>
             </control>
-            <control channel="0">
+            <control channel="2">
                 <type>VELOCITY</type>
-                <multiplier>1</multiplier>
+                <multiplier>800</multiplier> <!--ARBITRARY VALUES-->
                 <offset>0</offset>
+                <p_gain>0.20</p_gain>
+                <i_gain>0</i_gain>
+                <d_gain>0</d_gain>
+                <i_max>0</i_max>
+                <i_min>0</i_min>
+                <cmd_max>2.5</cmd_max>
+                <cmd_min>-2.5</cmd_min>
                 <jointName>aquanaute::propeller_motor_joint</jointName>
             </control>
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