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Controller Update 4

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2026-02-09 06:24:13 +00:00
parent 1f4c405824
commit af4ea49efd
2 changed files with 230 additions and 220 deletions
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55
config/ardupilot_gps_denied.parm
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@@ -1,73 +1,46 @@
# ArduPilot Parameters for Simulation
# Uses GPS from Gazebo for position estimation
# ArduPilot Parameters for GPS-Denied Navigation Simulation
# =========================================================
# GPS is ENABLED for: Geofence safety, LOCAL_POSITION_NED telemetry
# GPS is SIMULATED DENIED for: Control (using GUIDED_NOGPS mode)
# ====================
# GPS Configuration
# ====================
# Enable GPS (Gazebo provides simulated GPS)
# Enable GPS (needed for geofence and position telemetry)
GPS_TYPE 1 # Auto-detect
GPS_TYPE2 0
# ====================
# Geofence Settings
# ====================
# Disable geofence for simulation (avoids position requirement issues)
FENCE_ENABLE 0
# Safety cage - uses GPS for boundaries
FENCE_ENABLE 1
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_ALT_MAX 10 # Maximum altitude (meters)
FENCE_RADIUS 20 # Circular fence radius (meters)
FENCE_MARGIN 2 # Margin inside fence for warning
# ====================
# EKF Configuration
# ====================
# Use EKF3 with GPS
# Use EKF3 with GPS (for telemetry)
AHRS_EKF_TYPE 3
EK3_ENABLE 1
EK2_ENABLE 0
# EKF3 Source Configuration - Use GPS
# EKF3 Source - GPS for position (enables LOCAL_POSITION_NED)
EK3_SRC1_POSXY 3 # GPS for XY position
EK3_SRC1_POSZ 1 # Barometer for Z position
EK3_SRC1_VELXY 3 # GPS for XY velocity
EK3_SRC1_VELZ 0 # None for Z velocity
EK3_SRC1_YAW 1 # Compass for yaw
# EKF3 Position Innovation Gate
EK3_POS_I_GATE 300 # Larger gate
# ====================
# Vision Position Input
# ====================
# 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
# ====================
# Disable optical flow (using GPS instead)
FLOW_TYPE 0 # Disabled
# ====================
# Rangefinder
# ====================
# 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
FS_GPS_ENABLE 0 # Disable GPS failsafe for simulation
FS_GPS_ENABLE 0 # Disable GPS failsafe (we simulate GPS-denied)
# ====================
# Flight Modes
@@ -82,12 +55,10 @@ FLTMODE6 9 # Land
# ====================
# Arming Checks
# ====================
# Disable arming checks for simulation testing
ARMING_CHECK 0 # Disable all checks (for sim only)
ARMING_CHECK 0 # Disable all checks (for simulation)
# ====================
# Logging
# ====================
LOG_BITMASK 176126 # Log all relevant data
LOG_DISARMED 0 # Don't log when disarmed