2022-09-14 14:19:12 -03:00
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# Ros param when using Klausen Ctrl
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2023-04-26 15:59:47 -03:00
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#wait_time: 35 # parameter which can be set to run desired tests at a desired time
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wait_time: 20
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2022-09-14 14:19:12 -03:00
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#drone_mass: 0.614 # weight with new battery
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drone_mass: 0.602
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2022-11-29 11:11:14 -04:00
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pload: true
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2023-04-26 15:59:47 -03:00
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#tether_length: 2.0
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2022-11-29 11:11:14 -04:00
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pload_mass: 0.2 # mass of payload.
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2022-09-14 14:19:12 -03:00
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#pload_mass: 0.15 # Pload mass with 100g weight
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#pload_mass: 0.05 # Pload mass with just basket
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#pload_mass: 0.25
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2023-04-26 15:59:47 -03:00
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change_mode: true # choose whether to switch to oscillation damping controller
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#waypoints: {x: -2.5, y: -2.5, z: 2.15} # takeoff waypoints for square test
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waypoints: {x: 0.0, y: 0.0, z: 5.0}
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#waypoints: {x: 0.0, y: 0.0, z: 1.5} # step test - short tether
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2022-09-14 14:19:12 -03:00
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# sets waypoints to run a square test
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square_x: [0.5,1,1,1,0.5,0,0]
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square_y: [0,0,0.5,1,1,1,0.5]
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2023-04-26 15:59:47 -03:00
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# SET DESIRED TEST
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square: false
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step: true
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# SET DIRECTORY AND NAME OF BAGFILE
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directory: "/home/cesar/bagfiles/2023/04/10"
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bagfile: "testing_ctrl.bag"
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