Ardupilot Update

config.py

@@ -101,3 +101,49 @@ CONTROLLER = {
     # Control rate
     "rate": 50,     # Control loop frequency (Hz)
 }
+
+# =============================================================================
+# ARDUPILOT / MAVLINK CONFIGURATION
+# =============================================================================
+
+ARDUPILOT = {
+    # Vehicle type
+    "vehicle": "ArduCopter",      # ArduCopter, ArduPlane, APMrover2
+    "frame": "gazebo-iris",       # Gazebo model frame
+    
+    # SITL connection
+    "sitl_host": "127.0.0.1",     # SITL host address
+    "sitl_port": 5760,            # SITL TCP port
+    
+    # MAVProxy output (for MAVLink bridge)
+    "mavproxy_host": "127.0.0.1",
+    "mavproxy_port": 14550,       # MAVProxy UDP output
+    
+    # Gazebo plugin connection (JSON interface)
+    "gazebo_fdm_port_in": 9002,   # Port for motor commands
+    "gazebo_fdm_port_out": 9003,  # Port for sensor data
+    
+    # Arming requirements (for simulation, can be relaxed)
+    "require_gps": False,         # GPS required for arming
+    "require_ekf": True,          # EKF required for arming
+}
+
+MAVLINK = {
+    # MAVLink system IDs
+    "system_id": 1,               # Our system ID
+    "component_id": 191,          # MAV_COMP_ID_MISSIONPLANNER
+    
+    # Target system (usually the autopilot)
+    "target_system": 1,
+    "target_component": 1,
+    
+    # Connection timeout (seconds)
+    "heartbeat_timeout": 5.0,
+    "connection_timeout": 30.0,
+    
+    # Data stream rates (Hz)
+    "stream_rate_position": 50,
+    "stream_rate_attitude": 50,
+    "stream_rate_raw_sensors": 50,
+    "stream_rate_extended_status": 5,
+}