168 lines
6.0 KiB
Python
168 lines
6.0 KiB
Python
# =============================================================================
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# DRONE CONFIGURATION
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# =============================================================================
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DRONE = {
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# Physical properties
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"mass": 1.0, # kg
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"size": (0.3, 0.3, 0.1), # (width, depth, height) in meters
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"color": (0.8, 0.1, 0.1, 1.0), # RGBA (red)
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# Starting position
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"start_position": (0.0, 0.0, 5.0), # (x, y, z) in meters
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# Control limits
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"max_thrust": 1.0, # Maximum thrust command (-1 to 1)
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"max_pitch": 0.5, # Maximum pitch command
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"max_roll": 0.5, # Maximum roll command
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"max_yaw": 1.0, # Maximum yaw command
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# Thrust/torque scaling
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"thrust_scale": 15.0, # Force multiplier for thrust
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"pitch_torque_scale": 2.0, # Torque multiplier for pitch
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"roll_torque_scale": 2.0, # Torque multiplier for roll
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"yaw_torque_scale": 1.0, # Torque multiplier for yaw
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}
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# =============================================================================
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# ROVER (LANDING PAD) CONFIGURATION
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# =============================================================================
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ROVER = {
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# Physical properties
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"size": (1.0, 1.0, 0.3), # (width, depth, height) in meters
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"color": (0.2, 0.6, 0.2, 1.0), # RGBA (green)
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# Starting position
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"start_position": (0.0, 0.0, 0.15), # (x, y, z) in meters
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# Movement patterns (for RoverController)
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"default_pattern": "stationary", # stationary, linear, circular, square, random
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"default_speed": 0.5, # m/s
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"default_amplitude": 2.0, # meters (radius for circular, half-width for others)
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}
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# =============================================================================
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# CAMERA CONFIGURATION
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# =============================================================================
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CAMERA = {
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# Camera sensor settings (for simulation)
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"width": 320,
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"height": 240,
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"fov": 60.0, # Field of view in degrees
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"near_clip": 0.1, # Near clipping plane
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"far_clip": 100.0, # Far clipping plane
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"jpeg_quality": 70, # JPEG compression quality (1-100)
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# Camera viewer settings (for camera_viewer.py)
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"viewer_fps": 30, # Display framerate
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"viewer_topic": "/drone/camera", # ROS 2 topic for Gazebo
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"viewer_topic_ardupilot": "/camera/image_raw", # Topic for ArduPilot
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"show_info_overlay": True, # Show FPS and frame count
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}
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# =============================================================================
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# PHYSICS CONFIGURATION
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# =============================================================================
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PHYSICS = {
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"gravity": -9.81, # m/s² (negative = downward)
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"timestep": 1.0 / 240.0, # Physics timestep (240 Hz)
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"telemetry_rate": 24, # Telemetry updates per second
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}
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# =============================================================================
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# NETWORK CONFIGURATION
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# =============================================================================
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NETWORK = {
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"host": "0.0.0.0", # Listen on all interfaces
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"command_port": 5555, # Port for receiving commands
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"telemetry_port": 5556,# Port for sending telemetry
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}
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# =============================================================================
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# LANDING DETECTION
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# =============================================================================
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LANDING = {
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"success_distance": 0.5, # Maximum horizontal distance from pad center (m)
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"success_velocity": 0.3, # Maximum landing velocity (m/s)
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"height_threshold": 0.5, # Height considered "landed" (m)
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}
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# =============================================================================
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# CONTROLLER GAINS (PD Controller)
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# =============================================================================
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CONTROLLER = {
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# Altitude control
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"Kp_z": 0.5, # Proportional gain for altitude
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"Kd_z": 0.3, # Derivative gain for altitude
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# Horizontal control
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"Kp_xy": 0.3, # Proportional gain for horizontal position
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"Kd_xy": 0.2, # Derivative gain for horizontal position
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# Control rate
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"rate": 50, # Control loop frequency (Hz)
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}
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# =============================================================================
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# ARDUPILOT ROS 2 CONFIGURATION
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# =============================================================================
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ARDUPILOT = {
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# Vehicle type
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"vehicle": "ArduCopter", # ArduCopter, ArduPlane, APMrover2
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"frame": "iris", # Gazebo model (iris, wildthumper)
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# ROS 2 workspace (set by install_ardupilot.sh)
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"workspace": "~/ardu_ws",
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# Simulation worlds
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"default_world": "runway", # runway, maze, sitl
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# MAVProxy connection (for GCS features)
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"mavproxy_port": 14550, # MAVProxy UDP port
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# DDS configuration
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"dds_enable": True, # Enable DDS for native ROS 2 topics
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"dds_domain_id": 0, # Must match ROS_DOMAIN_ID
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}
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# ArduPilot ROS 2 Topics (read-only reference)
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ARDUPILOT_TOPICS = {
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# State topics (subscribe)
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"pose": "/ap/pose/filtered", # PoseStamped
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"geopose": "/ap/geopose/filtered", # GeoPoseStamped
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"twist": "/ap/twist/filtered", # TwistStamped
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"imu": "/ap/imu/filtered", # Imu
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"battery": "/ap/battery", # BatteryState
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"navsat": "/ap/navsat", # NavSatFix
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# Command topics (publish) - via MAVLink
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"cmd_vel": "/cmd_vel", # Twist (velocity commands)
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}
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# MAVLink configuration (for pymavlink/mavproxy)
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MAVLINK = {
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# MAVLink system IDs
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"system_id": 255, # GCS system ID
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"component_id": 190, # MAV_COMP_ID_MISSIONPLANNER
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# Target system (the autopilot)
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"target_system": 1,
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"target_component": 1,
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# Connection - MAVProxy outputs to UDP 14550
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# (sim_vehicle.py uses 5760 internally, but forwards to 14550)
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"connection_string": "udp:127.0.0.1:14550",
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# Timeouts (seconds)
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"heartbeat_timeout": 5.0,
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"connection_timeout": 30.0,
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}
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