oscillation_ctrl/config/mocapLab_params.yaml

# Ros param when using Klausen Ctrl
wait_time: 30 # parameter which can be set to run desired tests at a desired time

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

#PLOAD MASSES
#pload_mass: 0.25
#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: false

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

waypoints: {x: -1.0, y: -1.0, z: 2.0} # takeoff waypoints

# 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]

# HOVER THROTTLE - Changes depending on mass of pload and drone
# hover_throttle: 0.32 # Hover throttle with pload 0.15 kg
#hover_throttle: 0.28 # Hover throttle with pload 0.10 kg
hover_throttle: 0.23 # Hover throttle with no pload - about 0.23 with full battery
#hover_throttle: 0.26 # Hover throttle with pload 0.05 kg