oscillation_ctrl/config/mocapLab_params.yaml

# Ros param when using Klausen Ctrl
# wait_time: 45 # 30 at 2023-01-19 parameter which can be set to run desired tests at a desired time
#wait_time: 35 # 30 at 2023-01-19 parameter which can be set to run desired tests at a desired time
#wait_time: 35
wait_time: 30

# DRONE MASSES
#drone_mass: 0.614 # weight with new battery
drone_mass: 0.602

#PLOAD MASSES
#pload_mass: 0.25
#pload_mass: 0.20
#pload_mass: 0.157 # IMU payload
#pload_mass: 0.15   # Pload mass with 100g weight
pload_mass: 0.10   # Pload mass with 50g weight
#pload_mass: 0.05   # Pload mass with just basket
# pload_mass: 0.01    # No Pload
pload: true

# TETHER LENGTH
tether_length: 2.0

# SET DESIRED TEST
square: false
step: false
hover: true

# CTRL PARAMETER - should be false to start always
# use_ctrl: false   # starts PX4 without attitude controller 
change_mode: true    # choose whether to switch to oscillation damping controller 

# STARTING POSITION - Where drone will hover at until commanded otherwise

#waypoints: {x: 1.0, y: 0.0, z: 1.5} # debugging
waypoints: {x: 0.0, y: 0.0, z: 2.5} # takeoff waypoints for step test
#waypoints: {x: 0.0, y: -1.0, z: 2.15} # takeoff waypoints for step test
#waypoints: {x: -0.75, y: -0.5, z: 2.15} # takeoff waypoints for square test
#waypoints: {x: -0.5, y: 0.0, z: 2.5} # takeoff waypoints for step test
#waypoints: {x: 0.0, y: 0.0, z: 2.0} # step test - short tether
#waypoints: {x: 0.0, y: 0.0, z: 1.5} # step test - short tether
#waypoints: {x: -0.5, y: 0.0, z: 1.5} # takeoff waypoints for square test # lab

# HOVER THROTTLE - Changes depending on mass of pload and drone
#hover_throttle: 0.3 # Hover throttle with pload 0.16 kg (IMU) - This was found with full battery
# hover_throttle: 0.27 # Hover throttle with pload 0.10 kg
# hover_throttle: 0.26 # Hover throttle with pload 0.05 kg
# hover_throttle: 0.23 # Hover throttle with no pload - about 0.23 with full battery

### NEW
#hover_throttle: 0.24 # Hover throttle no pload
hover_throttle: 0.275 # Hover throttle with pload 0.05 kg
#hover_throttle: 0.305 # Hover throttle with pload 0.10 kg
#hover_throttle: 0.310 # Hover throttle with pload 0.16 kg

#hover_throttle: 0.31 # Hover throttle with pload 0.20 kg good results
#hover_throttle: 0.30 # Hover throttle with pload 0.20 kg
#hover_throttle: 0.37 # Hover throttle with pload 0.20 kg # ????

# NEW BATTERY
#hover_throttle: 0.28 # Hover throttle with pload 0.10 kg