28 lines
896 B
YAML
28 lines
896 B
YAML
# Ros param when using Klausen Ctrl
|
|
#wait_time: 35 # parameter which can be set to run desired tests at a desired time
|
|
wait_time: 20
|
|
#drone_mass: 0.614 # weight with new battery
|
|
drone_mass: 0.602
|
|
|
|
pload: true
|
|
#tether_length: 2.0
|
|
pload_mass: 0.2 # mass of payload.
|
|
#pload_mass: 0.15 # Pload mass with 100g weight
|
|
#pload_mass: 0.05 # Pload mass with just basket
|
|
#pload_mass: 0.25
|
|
change_mode: true # choose whether to switch to oscillation damping controller
|
|
#waypoints: {x: -2.5, y: -2.5, z: 2.15} # takeoff waypoints for square test
|
|
waypoints: {x: 0.0, y: 0.0, z: 5.0}
|
|
#waypoints: {x: 0.0, y: 0.0, z: 1.5} # step test - short tether
|
|
# sets waypoints to run a square test
|
|
square_x: [0.5,1,1,1,0.5,0,0]
|
|
square_y: [0,0,0.5,1,1,1,0.5]
|
|
|
|
# SET DESIRED TEST
|
|
square: false
|
|
step: true
|
|
|
|
# SET DIRECTORY AND NAME OF BAGFILE
|
|
directory: "/home/cesar/bagfiles/2023/04/10"
|
|
bagfile: "testing_ctrl.bag"
|