94 lines
2.4 KiB
Plaintext
94 lines
2.4 KiB
Plaintext
# ArduPilot Parameters for Simulation
|
|
# Uses GPS from Gazebo for position estimation
|
|
|
|
# ====================
|
|
# GPS Configuration
|
|
# ====================
|
|
# Enable GPS (Gazebo provides simulated GPS)
|
|
GPS_TYPE 1 # Auto-detect
|
|
GPS_TYPE2 0
|
|
|
|
# ====================
|
|
# Geofence Settings
|
|
# ====================
|
|
# 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
|
|
|
|
# ====================
|
|
# EKF Configuration
|
|
# ====================
|
|
# Use EKF3 with GPS
|
|
AHRS_EKF_TYPE 3
|
|
EK3_ENABLE 1
|
|
EK2_ENABLE 0
|
|
|
|
# EKF3 Source Configuration - Use GPS
|
|
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
|
|
|
|
# ====================
|
|
# Flight Modes
|
|
# ====================
|
|
FLTMODE1 0 # Stabilize
|
|
FLTMODE2 2 # Alt Hold
|
|
FLTMODE3 5 # Loiter
|
|
FLTMODE4 4 # Guided
|
|
FLTMODE5 6 # RTL
|
|
FLTMODE6 9 # Land
|
|
|
|
# ====================
|
|
# Arming Checks
|
|
# ====================
|
|
# Disable arming checks for simulation testing
|
|
ARMING_CHECK 0 # Disable all checks (for sim only)
|
|
|
|
# ====================
|
|
# Logging
|
|
# ====================
|
|
LOG_BITMASK 176126 # Log all relevant data
|
|
LOG_DISARMED 0 # Don't log when disarmed
|
|
|