forked from cesar.alejandro/oscillation_ctrl
63 lines
2.3 KiB
YAML
63 lines
2.3 KiB
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
|
|
|