# 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"