271 lines
6.9 KiB
YAML
271 lines
6.9 KiB
YAML
# Common configuration for PX4 autopilot
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#
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# node:
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startup_px4_usb_quirk: true
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# --- system plugins ---
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# sys_status & sys_time connection options
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conn:
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heartbeat_rate: 1.0 # send hertbeat rate in Hertz
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timeout: 10.0 # hertbeat timeout in seconds
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timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
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system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)
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# sys_status
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sys:
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min_voltage: 10.0 # diagnostics min voltage
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disable_diag: false # disable all sys_status diagnostics, except heartbeat
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# sys_time
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time:
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time_ref_source: "fcu" # time_reference source
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timesync_mode: MAVLINK
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timesync_avg_alpha: 0.6 # timesync averaging factor
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# --- mavros plugins (alphabetical order) ---
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# 3dr_radio
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tdr_radio:
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low_rssi: 40 # raw rssi lower level for diagnostics
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# actuator_control
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# None
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# command
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cmd:
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use_comp_id_system_control: false # quirk for some old FCUs
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# dummy
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# None
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# ftp
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# None
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# global_position
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global_position:
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frame_id: "map" # origin frame
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child_frame_id: "base_link" # body-fixed frame
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rot_covariance: 99999.0 # covariance for attitude?
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gps_uere: 1.0 # User Equivalent Range Error (UERE) of GPS sensor (m)
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use_relative_alt: true # use relative altitude for local coordinates
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tf:
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send: false # send TF?
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frame_id: "map" # TF frame_id
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global_frame_id: "earth" # TF earth frame_id
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child_frame_id: "base_link" # TF child_frame_id
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# imu_pub
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imu:
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frame_id: "base_link"
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# need find actual values
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linear_acceleration_stdev: 0.0003
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angular_velocity_stdev: 0.0003490659 // 0.02 degrees
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orientation_stdev: 1.0
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magnetic_stdev: 0.0
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# local_position
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local_position:
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frame_id: "map"
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tf:
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send: false
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frame_id: "map"
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child_frame_id: "base_link"
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send_fcu: false
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# param
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# None, used for FCU params
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# rc_io
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# None
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# safety_area
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safety_area:
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p1: {x: 1.0, y: 1.0, z: 1.0}
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p2: {x: -1.0, y: -1.0, z: -1.0}
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# setpoint_accel
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setpoint_accel:
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send_force: false
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# setpoint_attitude
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setpoint_attitude:
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reverse_thrust: false # allow reversed thrust
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use_quaternion: true # enable PoseStamped topic subscriber
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tf:
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listen: false # enable tf listener (disable topic subscribers)
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frame_id: "map"
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child_frame_id: "target_attitude"
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rate_limit: 50.0
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setpoint_raw:
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thrust_scaling: 1.0 # used in setpoint_raw attitude callback.
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# Note: PX4 expects normalized thrust values between 0 and 1, which means that
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# the scaling needs to be unitary and the inputs should be 0..1 as well.
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# setpoint_position
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setpoint_position:
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tf:
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listen: false # enable tf listener (disable topic subscribers)
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frame_id: "map"
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child_frame_id: "target_position"
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rate_limit: 50.0
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mav_frame: LOCAL_NED
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# setpoint_velocity
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setpoint_velocity:
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mav_frame: LOCAL_NED
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# vfr_hud
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# None
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# waypoint
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mission:
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pull_after_gcs: true # update mission if gcs updates
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# --- mavros extras plugins (same order) ---
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# adsb
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# None
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# debug_value
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# None
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# distance_sensor
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## Currently available orientations:
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# Check http://wiki.ros.org/mavros/Enumerations
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##
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distance_sensor:
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hrlv_ez4_pub:
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id: 0
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frame_id: "hrlv_ez4_sonar"
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orientation: PITCH_270 # RPY:{0.0, 270.0, 0.0} - downward-facing
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field_of_view: 0.0 # XXX TODO
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send_tf: true
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sensor_position: {x: 0.0, y: 0.0, z: -0.1}
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lidarlite_pub:
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id: 1
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frame_id: "lidarlite_laser"
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orientation: PITCH_270
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field_of_view: 0.0 # XXX TODO
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send_tf: true
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sensor_position: {x: 0.0, y: 0.0, z: -0.1}
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sonar_1_sub:
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subscriber: true
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id: 2
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orientation: PITCH_270
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laser_1_sub:
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subscriber: true
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id: 3
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orientation: PITCH_270
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# image_pub
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image:
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frame_id: "px4flow"
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# fake_gps
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fake_gps:
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# select data source
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use_mocap: true # ~mocap/pose
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mocap_transform: false # ~mocap/tf instead of pose
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use_vision: false # ~vision (pose)
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# origin (default: Zürich)
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geo_origin:
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lat: 47.3667 # latitude [degrees]
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lon: 8.5500 # longitude [degrees]
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alt: 408.0 # altitude (height over the WGS-84 ellipsoid) [meters]
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eph: 2.0
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epv: 2.0
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satellites_visible: 5 # virtual number of visible satellites
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fix_type: 3 # type of GPS fix (default: 3D)
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tf:
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listen: false
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send: false # send TF?
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frame_id: "map" # TF frame_id
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child_frame_id: "fix" # TF child_frame_id
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rate_limit: 10.0 # TF rate
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gps_rate: 5.0 # GPS data publishing rate
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# landing_target
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landing_target:
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listen_lt: false
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mav_frame: "LOCAL_NED"
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land_target_type: "VISION_FIDUCIAL"
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image:
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width: 640 # [pixels]
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height: 480
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camera:
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fov_x: 2.0071286398 # default: 115 [degrees]
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fov_y: 2.0071286398
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tf:
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send: true
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listen: false
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frame_id: "landing_target"
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child_frame_id: "camera_center"
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rate_limit: 10.0
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target_size: {x: 0.3, y: 0.3}
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# mocap_pose_estimate
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mocap:
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# select mocap source
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use_tf: false # ~mocap/tf
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use_pose: true # ~mocap/pose
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# odom
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odometry:
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in:
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frame_id: "odom"
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child_frame_id: "base_link"
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frame_tf:
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local_frame: "local_origin_ned"
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body_frame_orientation: "flu"
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out:
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frame_tf:
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# available: check MAV_FRAME odometry local frames in
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# https://mavlink.io/en/messages/common.html
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local_frame: "vision_ned"
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# available: ned, frd or flu (though only the tf to frd is supported)
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body_frame_orientation: "frd"
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# px4flow
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px4flow:
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frame_id: "px4flow"
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ranger_fov: 0.118682 # 6.8 degrees at 5 meters, 31 degrees at 1 meter
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ranger_min_range: 0.3 # meters
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ranger_max_range: 5.0 # meters
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# vision_pose_estimate
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vision_pose:
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tf:
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listen: false # enable tf listener (disable topic subscribers)
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frame_id: "map"
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child_frame_id: "vision_estimate"
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rate_limit: 10.0
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# vision_speed_estimate
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vision_speed:
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listen_twist: true # enable listen to twist topic, else listen to vec3d topic
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twist_cov: true # enable listen to twist with covariance topic
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# vibration
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vibration:
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frame_id: "base_link"
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# wheel_odometry
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wheel_odometry:
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count: 2 # number of wheels to compute odometry
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use_rpm: false # use wheel's RPM instead of cumulative distance to compute odometry
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wheel0: {x: 0.0, y: -0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
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wheel1: {x: 0.0, y: 0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
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send_raw: true # send wheel's RPM and cumulative distance (~/wheel_odometry/rpm, ~/wheel_odometry/distance)
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send_twist: false # send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometry
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frame_id: "map" # origin frame
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child_frame_id: "base_link" # body-fixed frame
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vel_error: 0.1 # wheel velocity measurement error 1-std (m/s)
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tf:
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send: true
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frame_id: "map"
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child_frame_id: "base_link"
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# vim:set ts=2 sw=2 et:
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