Initial Commit

2026-02-09 03:39:49 +00:00
commit a756be4bf7
71 changed files with 6705 additions and 0 deletions
--- a/config/uav_params.yaml
+++ b/config/uav_params.yaml
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+# UAV Configuration - GPS-Denied Navigation
+/**:
+  ros__parameters:
+    
+    # Vision parameters for navigation
+    vision:
+      # Forward camera (for visual odometry)
+      forward_camera:
+        enabled: true
+        topic: "/uav/camera/forward/image_raw"
+        info_topic: "/uav/camera/forward/camera_info"
+        frame_rate: 30
+        
+      # Downward camera (for optical flow)
+      downward_camera:
+        enabled: true
+        topic: "/uav/camera/downward/image_raw"
+        info_topic: "/uav/camera/downward/camera_info"
+        frame_rate: 30
+        
+      # Visual odometry settings
+      visual_odometry:
+        enabled: true
+        method: "ORB"  # Options: ORB, SIFT, SURF
+        min_features: 100
+        max_features: 500
+        feature_quality: 0.01
+        min_distance: 10
+        
+      # Optical flow settings
+      optical_flow:
+        enabled: true
+        method: "Lucas-Kanade"
+        window_size: 15
+        max_level: 3
+        min_altitude: 0.3  # meters
+        max_altitude: 10.0  # meters
+        
+      # Landmark detection
+      landmarks:
+        enabled: true
+        detection_method: "ArUco"  # Options: ArUco, AprilTag, ORB
+        marker_size: 0.15  # meters
+        
+    # Position estimation (sensor fusion)
+    position_estimator:
+      fusion_method: "EKF"  # Extended Kalman Filter
+      
+      # Sensor weights (trust levels)
+      weights:
+        visual_odometry: 0.6
+        optical_flow: 0.3
+        imu: 0.1
+        
+      # Update rates
+      update_rate: 50  # Hz
+      
+      # Covariance matrices
+      process_noise:
+        position: 0.1
+        velocity: 0.5
+        
+      measurement_noise:
+        visual_odom: 0.05
+        optical_flow: 0.1
+        imu: 0.2
+    
+    # Navigation parameters (RELATIVE coordinates only)
+    navigation:
+      frame: "LOCAL_NED"  # Never use GPS frame
+      
+      # Control parameters
+      max_velocity: 2.0  # m/s
+      max_acceleration: 1.0  # m/s^2
+      max_climb_rate: 1.0  # m/s
+      
+      # Waypoint following
+      waypoint_radius: 0.5  # meters
+      position_hold_radius: 0.2  # meters
+      
+      # Obstacle avoidance (vision-based)
+      obstacle_avoidance:
+        enabled: true
+        detection_range: 5.0  # meters
+        safety_margin: 1.0  # meters
+    
+    # Mission parameters
+    mission:
+      takeoff_altitude: 5.0  # meters (relative)
+      loiter_radius: 2.0  # meters
+      rtl_altitude: 10.0  # meters (relative)
+      
+      # Home position is LOCAL (0,0,0), not GPS
+      home_mode: "local"  # Never "gps"
+    
+    # Safety (geofencing uses GPS, but navigation doesn't)
+    safety:
+      geofence:
+        enabled: true
+        use_gps: true  # ONLY for geofence
+        action_on_breach: "RTL"  # Return to LOCAL origin
+        
+      failsafe:
+        vision_loss_timeout: 5.0  # seconds
+        action_on_vision_loss: "HOLD"  # or "RTL" or "LAND"