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Preflight Planner Update

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SirBlobby
2026-02-13 16:48:14 -05:00
parent c7e9f81f55
commit 42e4fa28a9
10 changed files with 781 additions and 403 deletions
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27
config/search.yaml
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@@ -1,5 +1,16 @@
altitude: 5.0
# ─── Mission / Search Configuration ──────────────────────────
# Single source of truth for all mission parameters.
# ── Flight ───────────────────────────────────────────────────
altitude: 4.0 # Search altitude (meters)
# ── ArUco Marker ─────────────────────────────────────────────
marker:
dictionary: DICT_4X4_50
size: 0.5 # Physical marker size in meters
landing_ids: [0] # Marker IDs that trigger landing
# ── Search Patterns ──────────────────────────────────────────
spiral:
max_legs: 12
initial_leg: 4.0
@@ -15,18 +26,16 @@ levy:
max_steps: 20
field_size: 50.0
actions:
land:
- 0
# ── Geofence ─────────────────────────────────────────────────
geofence:
enabled: true
warning_distance: 3.0
min_altitude: 0.0
max_altitude: 15.0
# Polygon vertices in local NED (x=North, y=East) meters
# Centered on UAV start position (0, 0)
points:
- [-5, -5]
- [-5, 25]
- [25, 25]
- [25, -5]
- [-15, -15]
- [-15, 15]
- [15, 15]
- [15, -15]