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Overview

The STOP parameter group (specifically STOP_DIST or DOCK_STOP_DIST) configures the terminal phase of the Autonomous Docking maneuver for ArduRover.

Key Concepts

1. Docking Termination

When a rover or boat is docking (e.g., for automated charging), it must stop precisely.

  • STOP_DIST: Defines the safety gap (in meters) between the autopilot's target location and the physical stopping point.
  • Purpose: Ensures the vehicle doesn't "over-ram" the dock, which could damage the charging pins or the airframe.

Developer Notes

  • Library: Rover/mode_dock.cpp.
  • Context: Only relevant for ArduRover.

STOP_DIST

m
Default 0.3
Range 0 2

STOP_DIST: Distance from docking target when we should stop

Description

The vehicle starts stopping when it is this distance away from docking target.

Values

  • Range: 0 to 2
  • Units: m
  • Default: 0.3

Description

This parameter is used in the Docking Mode for Rovers and Boats.

  • Function: It defines the "Stopping Point" offset from the target. The vehicle will aim to come to a complete halt at this distance before hitting the physical dock or charging station.
  • Safety: Prevents collision with the docking infrastructure.
  • Tuning: Adjust based on the physical size of your vehicle and the tolerance of your docking mechanism.
View Source
Motion Detection Threshold (STILL) Steering Gain Configuration (STR)