104 lines
3.8 KiB
Python
104 lines
3.8 KiB
Python
# =============================================================================
|
|
# DRONE CONFIGURATION
|
|
# =============================================================================
|
|
|
|
DRONE = {
|
|
# Physical properties
|
|
"mass": 1.0, # kg
|
|
"size": (0.3, 0.3, 0.1), # (width, depth, height) in meters
|
|
"color": (0.8, 0.1, 0.1, 1.0), # RGBA (red)
|
|
|
|
# Starting position
|
|
"start_position": (0.0, 0.0, 5.0), # (x, y, z) in meters
|
|
|
|
# Control limits
|
|
"max_thrust": 1.0, # Maximum thrust command (-1 to 1)
|
|
"max_pitch": 0.5, # Maximum pitch command
|
|
"max_roll": 0.5, # Maximum roll command
|
|
"max_yaw": 1.0, # Maximum yaw command
|
|
|
|
# Thrust/torque scaling
|
|
"thrust_scale": 15.0, # Force multiplier for thrust
|
|
"pitch_torque_scale": 2.0, # Torque multiplier for pitch
|
|
"roll_torque_scale": 2.0, # Torque multiplier for roll
|
|
"yaw_torque_scale": 1.0, # Torque multiplier for yaw
|
|
}
|
|
|
|
# =============================================================================
|
|
# ROVER (LANDING PAD) CONFIGURATION
|
|
# =============================================================================
|
|
|
|
ROVER = {
|
|
# Physical properties
|
|
"size": (1.0, 1.0, 0.3), # (width, depth, height) in meters
|
|
"color": (0.2, 0.6, 0.2, 1.0), # RGBA (green)
|
|
|
|
# Starting position
|
|
"start_position": (0.0, 0.0, 0.15), # (x, y, z) in meters
|
|
|
|
# Movement patterns (for RoverController)
|
|
"default_pattern": "stationary", # stationary, linear, circular, square, random
|
|
"default_speed": 0.5, # m/s
|
|
"default_amplitude": 2.0, # meters (radius for circular, half-width for others)
|
|
}
|
|
|
|
# =============================================================================
|
|
# CAMERA CONFIGURATION
|
|
# =============================================================================
|
|
|
|
CAMERA = {
|
|
"width": 320,
|
|
"height": 240,
|
|
"fov": 60.0, # Field of view in degrees
|
|
"near_clip": 0.1, # Near clipping plane
|
|
"far_clip": 100.0, # Far clipping plane
|
|
"jpeg_quality": 70, # JPEG compression quality (1-100)
|
|
}
|
|
|
|
# =============================================================================
|
|
# PHYSICS CONFIGURATION
|
|
# =============================================================================
|
|
|
|
PHYSICS = {
|
|
"gravity": -9.81, # m/s² (negative = downward)
|
|
"timestep": 1.0 / 240.0, # Physics timestep (240 Hz)
|
|
"telemetry_rate": 24, # Telemetry updates per second
|
|
}
|
|
|
|
# =============================================================================
|
|
# NETWORK CONFIGURATION
|
|
# =============================================================================
|
|
|
|
NETWORK = {
|
|
"host": "0.0.0.0", # Listen on all interfaces
|
|
"command_port": 5555, # Port for receiving commands
|
|
"telemetry_port": 5556,# Port for sending telemetry
|
|
}
|
|
|
|
# =============================================================================
|
|
# LANDING DETECTION
|
|
# =============================================================================
|
|
|
|
LANDING = {
|
|
"success_distance": 0.5, # Maximum horizontal distance from pad center (m)
|
|
"success_velocity": 0.3, # Maximum landing velocity (m/s)
|
|
"height_threshold": 0.5, # Height considered "landed" (m)
|
|
}
|
|
|
|
# =============================================================================
|
|
# CONTROLLER GAINS (PD Controller)
|
|
# =============================================================================
|
|
|
|
CONTROLLER = {
|
|
# Altitude control
|
|
"Kp_z": 0.5, # Proportional gain for altitude
|
|
"Kd_z": 0.3, # Derivative gain for altitude
|
|
|
|
# Horizontal control
|
|
"Kp_xy": 0.3, # Proportional gain for horizontal position
|
|
"Kd_xy": 0.2, # Derivative gain for horizontal position
|
|
|
|
# Control rate
|
|
"rate": 50, # Control loop frequency (Hz)
|
|
}
|