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aerial_robot_control_name: aerial_robot_control/under_actuated_tilted_lqi_controller | ||
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controller: | ||
xy: | ||
p_gain: 5.0 | ||
i_gain: 0.05 | ||
d_gain: 3.0 | ||
limit_sum: 3 | ||
limit_p: 3 | ||
limit_i: 1.5 | ||
limit_d: 3 | ||
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z: | ||
p_gain: 5.0 | ||
i_gain: 1.25 | ||
d_gain: 5.0 | ||
limit_err_p: 1.0 | ||
limit_sum: 10 # N for clamping thrust force | ||
limit_p: 20 # m / s^2 | ||
limit_i: 40 # m / s^2 | ||
limit_d: 20 # m / s^2 | ||
landing_err_z: -0.2 | ||
force_landing_descending_rate: -0.6 | ||
compensate_gravity: true | ||
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yaw: | ||
limit_sum: 6.0 # N for clamping thrust force | ||
limit_p: 4.0 | ||
limit_i: 4.0 | ||
limit_d: 4.0 | ||
limit_err_p: 0.4 | ||
need_d_control: false | ||
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# LQI gain generator | ||
lqi: | ||
gain_generate_rate: 15.0 | ||
gyro_moment_compensation: true | ||
clamp_gain: true | ||
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roll_pitch_p: 20 | ||
roll_pitch_i: 0.5 | ||
roll_pitch_d: 0.15 | ||
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yaw_p: 50 #50 | ||
yaw_i: 0.5 | ||
yaw_d: 2.0 #1.0 | ||
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r1: 1.0 | ||
r2: 1.0 | ||
r3: 1.0 | ||
r4: 1.0 | ||
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trans_constraint_weight: 100 | ||
att_control_weight: 1 | ||
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# Teleop Basic Param | ||
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navigation: | ||
xy_control_mode: 0 | ||
# World Pos Control Mode: 0 | ||
# World Vel Control Mode: 2 | ||
# Local Vel Control Mode: 3 | ||
# Attitude Control Mode: 4 | ||
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takeoff_height: 0.8 #1.0 | ||
outdoor_takeoff_height: 1.5 | ||
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# teleop operation | ||
max_target_vel: 0.5 | ||
joy_target_vel_interval: 0.005 # 0.2 / 20 = 0.01, 0.005 ~ 0.01 m/s | ||
joy_target_z_interval: 0.02 | ||
max_target_yaw_rate: 0.1 # 0.05 | ||
teleop_local_frame: fc | ||
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cmd_vel_lev2_gain : 2.0 | ||
nav_vel_limit : 1.0 | ||
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gain_tunning_mode: 0 | ||
max_target_tilt_angle: 0.2 | ||
cmd_angle_lev2_gain : 1.5 | ||
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# gps waypoint | ||
gps_waypoint_threshold: 3.0 | ||
gps_waypoint_check_du: 1.0 | ||
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#landing | ||
land_check_duration: 0.1 |
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# robot model plugin | ||
robot_model_plugin_name: multirotor_robot_model | ||
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wrench_mat_det_thre: 0 | ||
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# feasible control configuration | ||
fc_t_min_thre: 0.01 | ||
fc_rp_min_thre: 1.8 | ||
rp_position_margin_thre: 0.13 # deprecated | ||
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zeros: | ||
rotor1: 0 | ||
rotor2: 0 | ||
rotor3: 0 | ||
rotor4: 0 | ||
rotor5: 0 | ||
rotor6: 0 | ||
rotor7: 0 | ||
rotor8: 0 |
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# overwrite parameter for simulation | ||
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sensor_plugin: | ||
mocap: | ||
ground_truth_sub_name: ground_truth | ||
gps: | ||
estimate_mode: 4 #1 << 2 | ||
ned_flag: true # hector_gazebo_plugins/GPS | ||
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# ground truth parameter | ||
# global namespace | ||
simulation: | ||
# gaussian noise | ||
ground_truth_pos_noise: 0.001 | ||
ground_truth_vel_noise: 0.005 | ||
ground_truth_rot_noise: 0.001 | ||
ground_truth_angular_noise: 0.005 | ||
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# drift model: e^(-dt * drift_frequency) * curr_drift + dt * gaussian_kernel(sqrt( 2 * drift_frequency) * drfit)) | ||
# drift diviation: | ||
ground_truth_vel_drift: 0 | ||
ground_truth_rot_drift: 0 | ||
ground_truth_angular_drift: 0 | ||
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# drift frequency: | ||
ground_truth_vel_drift_frequency: 0 | ||
ground_truth_rot_drift_frequency: 0 | ||
ground_truth_angular_drift_frequency: 0 |
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# Sensor Fuser Loader | ||
estimation: | ||
# sensor plugin | ||
sensor_list: | ||
- sensor_plugin/imu | ||
- sensor_plugin/mocap | ||
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# egomotion estimation | ||
egomotion_list: | ||
- kalman_filter/kf_pos_vel_acc | ||
- kalman_filter/kf_pos_vel_acc | ||
- kalman_filter/kf_pos_vel_acc | ||
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# experiment estimation | ||
experiment_list: | ||
- kalman_filter/kf_pos_vel_acc | ||
- kalman_filter/kf_pos_vel_acc | ||
- kalman_filter/kf_pos_vel_acc | ||
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# specific id(int) of sensor fuser, axis for kf | ||
fuser_egomotion_id1: 8 # 1 << 3 | ||
fuser_egomotion_id2: 16 # 1 << 4 | ||
fuser_egomotion_id3: 32 # 1 << 5 | ||
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fuser_experiment_id1: 8 # 1 << 3 | ||
fuser_experiment_id2: 16 # 1 << 4 | ||
fuser_experiment_id3: 32 # 1 << 5 | ||
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# specific name of sensor fuser | ||
fuser_egomotion_name1: /ee/x | ||
fuser_egomotion_name2: /ee/y | ||
fuser_egomotion_name3: /ee/z | ||
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fuser_experiment_name1: /ex/x | ||
fuser_experiment_name2: /ex/y | ||
fuser_experiment_name3: /ex/z | ||
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# EGOMOTION_ESTIMATION_MODE = 0 | ||
# EXPERIMENT_MODE = 1 | ||
# GROUND_TRUTH_MODE = 2 | ||
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sensor_plugin: | ||
imu: | ||
estimate_mode: 3 # 1<<0 + 1<<1 | ||
mocap: | ||
estimate_mode: 6 # 1<<1 + 1<<2 |
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edgetpu_node_manager: | ||
nodes: | ||
- name: edgetpu_panorama_object_detector | ||
type: panorama_object_detector | ||
- name: edgetpu_human_pose_estimator | ||
type: human_pose_estimator | ||
default: edgetpu_panorama_object_detector |
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bat_info: | ||
bat_cell: 3 | ||
bat_resistance: 0.04 # [m Ohm] | ||
hovering_current: 15 #[A] | ||
low_voltage_thre: 10 #[100%] |
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motor_info: # TODO: update | ||
min_pwm: 0.6 # 1200 [ms] | ||
max_pwm: 0.975 # 1950 [ms] | ||
min_thrust: 0 # [N] | ||
force_landing_thrust: 1.0 #[N] | ||
pwm_conversion_mode: 1 # Polynominal Mode | ||
vel_ref_num: 2 | ||
ref1: | ||
voltage: 11 | ||
max_thrust: 7.2 # N | ||
polynominal4: -168.952346 # -0.0168952346 x10^4 | ||
polynominal3: 308.7473666 # 0.3087473666 x10^3 | ||
polynominal2: -203.28702334 # -2.0328702334 x10^2 | ||
polynominal1: 106.787265636 # 10.6787265636 x10 | ||
polynominal0: 56.3518258750 # 56.3518258750 x1 | ||
ref2: | ||
voltage: 12 | ||
max_thrust: 8.0 # N | ||
polynominal4: -39.838825 # -0.0039838825 x10^4 | ||
polynominal3: 112.1897517 # 0.1121897517 x10^3 | ||
polynominal2: -101.84075291 # -1.0184075291 x10^2 | ||
polynominal1: 81.582961230 # 8.1582961230 x10 | ||
polynominal0: 56.9010618089 # 56.9010618089 x1 | ||
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