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config-drone.yaml
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config-drone.yaml
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geometry: MovingCamera
mavlink:
port_path: serial:/dev/serial/by-id/usb-FTDI_TTL232R-3V3_FTGBISCC-if00-port0:1000000
kalman_filter_parameters:
motion_noise: 3.0
observation_noise: 0.0001
kalman_filter_dist_parameters:
# Motion noise [m/s2] for constant-speed dynamic model is
# root-mean-square of (unknown random) acceleration [m/s2].
# flying animals have thrust to mass ratios anywhere between
# circa 11 and 50 m/s2 [doi: 10.1098/rsos.160746]. Honey bees
# are probably around 17 m/s2.
motion_noise: 20
# rms measurement noise at 1 meter; this is internally scaled
# according to stereopsis law (i.e., multiplied by r^2)
observation_noise: 0.0005
control_loop_timestep_secs: 0.001
kp_pan_angle: 0.5
kp_tilt_angle: 0.5
ki_pan_angle: 25
ki_tilt_angle: 25
kd_pan: 0.0
kd_tilt: 0.0
centroid_to_sensor_x_angle_func:
dx_gain: 0.000138 # 3.45um / 25mm
dy_gain: 0.0
offset: 0.0
centroid_to_sensor_y_angle_func:
dx_gain: 0.0
dy_gain: -0.000138
offset: 0.0
centroid_lag: 0.004
pan_motor_config:
endpoint_low: -1.9
endpoint_high: 1.9
neutral_position: 0.0
control_lag: 0.000
tilt_motor_config:
endpoint_low: -1.57
endpoint_high: 0.52
neutral_position: -0.414
gimbal_config:
port_path: /dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0
reverse_pan: false
reverse_tilt: true
tracking_thresholds:
msecs_to_suspend: 1000 # how long to keep tracking the lost animal with estimated velocity, before switching to SuspendedClosedLoop (staring at the last observation)
msecs_to_acquire_lock: 30000 # how long to stay in SuspendedClosedLoop before centering
# motor_timeconstant (s) needs to be larger than main loop dt
# if motor_timeconstant_secs=dt (=.001), the estimated motor position is the
# current motor command
motor_timeconstant_secs: .01
encoder_lag: 0.003
#stereopsis parameters
secondary_cam_name: Basler-40331532
strand_cam_main:
url: http://127.0.0.1:5555
strand_cam_secondary:
url: http://127.0.0.1:5556
stereopsis_calib:
r1_m: 1.799
x_offset_1_px: 326.0
r2_m: 20.16
x_offset_2_px: 41.5
pixel_size_um: 3.45
sounds_filenames:
enter_manual_open_loop: /home/strawlab/resource/sounds/launch02.ogg
enter_closed_loop: /home/strawlab/resource/sounds/glee2.ogg
enter_suspended_closed_loop: /home/strawlab/resource/sounds/mumble1.ogg
enter_acquiring_lock: /home/strawlab/resource/sounds/launch03.ogg
osd_config:
port_path: /dev/serial/by-id/usb-FTDI_TTL232R-3V3_FTGXKCET-if00-port0
cal:
camera_calibration: /home/strawlab/src/flo/flo/dji-o3-goggles2-calibration.yaml
osd_area_w: 1276.0
osd_area_h: 990.0
osd_char_w: 30
osd_char_h: 16
pose:
z: 0.050
pitch_deg: -23.7
rc_config:
track_start:
ch_no: 7
val_min: 0.7
val_max: 2.0
track_stop:
ch_no: 7
val_min: -2.0
val_max: -0.7
pan_knob:
ch_no: 12
max_angle: 60
noise_gate:
noise_gate: 0.02
hold_time: 2.0
tilt_knob:
ch_no: 13
max_angle: 40
noise_gate:
noise_gate: 0.02
hold_time: 2.0