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Scripts Update 2

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2026-02-09 06:12:38 +00:00
parent 347a5cc4f8
commit 1f4c405824
2 changed files with 78 additions and 50 deletions
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69
config/ardupilot_gps_denied.parm
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@@ -1,20 +1,20 @@
# ArduPilot Parameters for GPS-Denied Navigation
# GPS ONLY used for geofencing, NOT navigation
# ArduPilot Parameters for Simulation
# Uses GPS from Gazebo for position estimation
# ====================
# GPS Configuration
# ====================
# Disable GPS for navigation
GPS_TYPE 0
# Enable GPS (Gazebo provides simulated GPS)
GPS_TYPE 1 # Auto-detect
GPS_TYPE2 0
# ====================
# Geofence Settings
# ====================
# Enable geofence (still uses GPS for boundaries)
FENCE_ENABLE 1
FENCE_TYPE 7 # All fence types (circle + polygon + altitude)
FENCE_ACTION 1 # RTL on breach
# Disable geofence for simulation (avoids position requirement issues)
FENCE_ENABLE 0
FENCE_TYPE 3 # Alt + Circle
FENCE_ACTION 2 # Land on breach
FENCE_ALT_MAX 50 # Maximum altitude (meters)
FENCE_RADIUS 100 # Circular fence radius (meters)
FENCE_MARGIN 2 # Margin inside fence for warning
@@ -22,67 +22,61 @@ FENCE_MARGIN 2 # Margin inside fence for warning
# ====================
# EKF Configuration
# ====================
# Use EKF3 with external navigation
# Use EKF3 with GPS
AHRS_EKF_TYPE 3
EK3_ENABLE 1
EK2_ENABLE 0
# EKF3 Source Configuration
# Source 1: External Nav (Visual Odometry)
EK3_SRC1_POSXY 6 # External nav for XY position
# EKF3 Source Configuration - Use GPS
EK3_SRC1_POSXY 3 # GPS for XY position
EK3_SRC1_POSZ 1 # Barometer for Z position
EK3_SRC1_VELXY 6 # External nav for XY velocity
EK3_SRC1_VELXY 3 # GPS for XY velocity
EK3_SRC1_VELZ 0 # None for Z velocity
EK3_SRC1_YAW 6 # External nav for yaw
EK3_SRC1_YAW 1 # Compass for yaw
# EKF3 Position Innovation Gate
EK3_POS_I_GATE 300 # Larger gate for visual odometry
EK3_POS_I_GATE 300 # Larger gate
# ====================
# Vision Position Input
# ====================
VISO_TYPE 1 # MAVLink vision position
VISO_POS_X 0.1 # Camera X offset from CG (meters)
VISO_POS_Y 0.0 # Camera Y offset from CG (meters)
VISO_POS_Z -0.05 # Camera Z offset from CG (meters)
VISO_ORIENT 0 # Camera orientation (0 = forward)
VISO_DELAY_MS 50 # Vision position delay (ms)
# Disable vision odometry (not using for simulation)
VISO_TYPE 0 # Disabled
VISO_POS_X 0.0
VISO_POS_Y 0.0
VISO_POS_Z 0.0
VISO_ORIENT 0
VISO_DELAY_MS 50
# ====================
# Optical Flow
# ====================
FLOW_TYPE 1 # Enable optical flow
FLOW_FXSCALER 200 # X scale factor
FLOW_FYSCALER 200 # Y scale factor
FLOW_POS_X 0.0 # Flow sensor X offset
FLOW_POS_Y 0.0 # Flow sensor Y offset
FLOW_POS_Z 0.0 # Flow sensor Z offset
# Disable optical flow (using GPS instead)
FLOW_TYPE 0 # Disabled
# ====================
# Rangefinder (for altitude in GPS-denied)
# Rangefinder
# ====================
RNGFND1_TYPE 1 # Analog rangefinder
RNGFND1_MIN_CM 10 # Minimum range (cm)
RNGFND1_MAX_CM 1000 # Maximum range (cm)
RNGFND1_ORIENT 25 # Downward orientation
# Disable rangefinder (using barometer + GPS)
RNGFND1_TYPE 0 # Disabled
# ====================
# Failsafe Settings
# ====================
FS_EKF_ACTION 1 # Land on EKF failsafe
FS_EKF_THRESH 0.8 # EKF failsafe threshold
FS_VIBE_ENABLE 0 # Disable vibration failsafe (optical flow sensitive)
FS_VIBE_ENABLE 0 # Disable vibration failsafe
FS_GPS_ENABLE 0 # Disable GPS failsafe for simulation
# ====================
# Flight Modes
# ====================
# Disable GPS-dependent modes
# Allowed: STABILIZE, ALT_HOLD, LOITER (with optical flow), GUIDED
FLTMODE1 0 # Stabilize
FLTMODE2 2 # Alt Hold
FLTMODE3 5 # Loiter (optical flow based)
FLTMODE3 5 # Loiter
FLTMODE4 4 # Guided
FLTMODE5 6 # RTL (returns to local origin)
FLTMODE5 6 # RTL
FLTMODE6 9 # Land
# ====================
@@ -96,3 +90,4 @@ ARMING_CHECK 0 # Disable all checks (for sim only)
# ====================
LOG_BITMASK 176126 # Log all relevant data
LOG_DISARMED 0 # Don't log when disarmed