99 lines
3.0 KiB
Plaintext
99 lines
3.0 KiB
Plaintext
# ArduPilot Parameters for GPS-Denied Navigation
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# GPS ONLY used for geofencing, NOT navigation
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# ====================
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# GPS Configuration
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# ====================
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# Disable GPS for navigation
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GPS_TYPE 0
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GPS_TYPE2 0
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# ====================
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# Geofence Settings
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# ====================
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# Enable geofence (still uses GPS for boundaries)
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FENCE_ENABLE 1
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FENCE_TYPE 7 # All fence types (circle + polygon + altitude)
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FENCE_ACTION 1 # RTL on breach
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FENCE_ALT_MAX 50 # Maximum altitude (meters)
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FENCE_RADIUS 100 # Circular fence radius (meters)
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FENCE_MARGIN 2 # Margin inside fence for warning
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# ====================
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# EKF Configuration
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# ====================
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# Use EKF3 with external navigation
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AHRS_EKF_TYPE 3
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EK3_ENABLE 1
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EK2_ENABLE 0
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# EKF3 Source Configuration
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# Source 1: External Nav (Visual Odometry)
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EK3_SRC1_POSXY 6 # External nav for XY position
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EK3_SRC1_POSZ 1 # Barometer for Z position
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EK3_SRC1_VELXY 6 # External nav for XY velocity
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EK3_SRC1_VELZ 0 # None for Z velocity
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EK3_SRC1_YAW 6 # External nav for yaw
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# EKF3 Position Innovation Gate
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EK3_POS_I_GATE 300 # Larger gate for visual odometry
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# ====================
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# Vision Position Input
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# ====================
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VISO_TYPE 1 # MAVLink vision position
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VISO_POS_X 0.1 # Camera X offset from CG (meters)
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VISO_POS_Y 0.0 # Camera Y offset from CG (meters)
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VISO_POS_Z -0.05 # Camera Z offset from CG (meters)
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VISO_ORIENT 0 # Camera orientation (0 = forward)
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VISO_DELAY_MS 50 # Vision position delay (ms)
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# ====================
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# Optical Flow
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# ====================
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FLOW_TYPE 1 # Enable optical flow
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FLOW_FXSCALER 200 # X scale factor
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FLOW_FYSCALER 200 # Y scale factor
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FLOW_POS_X 0.0 # Flow sensor X offset
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FLOW_POS_Y 0.0 # Flow sensor Y offset
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FLOW_POS_Z 0.0 # Flow sensor Z offset
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# ====================
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# Rangefinder (for altitude in GPS-denied)
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# ====================
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RNGFND1_TYPE 1 # Analog rangefinder
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RNGFND1_MIN_CM 10 # Minimum range (cm)
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RNGFND1_MAX_CM 1000 # Maximum range (cm)
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RNGFND1_ORIENT 25 # Downward orientation
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# ====================
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# Failsafe Settings
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# ====================
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FS_EKF_ACTION 1 # Land on EKF failsafe
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FS_EKF_THRESH 0.8 # EKF failsafe threshold
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FS_VIBE_ENABLE 0 # Disable vibration failsafe (optical flow sensitive)
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# ====================
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# Flight Modes
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# ====================
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# Disable GPS-dependent modes
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# Allowed: STABILIZE, ALT_HOLD, LOITER (with optical flow), GUIDED
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FLTMODE1 0 # Stabilize
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FLTMODE2 2 # Alt Hold
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FLTMODE3 5 # Loiter (optical flow based)
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FLTMODE4 4 # Guided
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FLTMODE5 6 # RTL (returns to local origin)
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FLTMODE6 9 # Land
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# ====================
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# Arming Checks
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# ====================
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# Relax arming checks for GPS-denied operation
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ARMING_CHECK 14 # Skip GPS check (bit 2 = 4)
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# ====================
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# Logging
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# ====================
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LOG_BITMASK 176126 # Log all relevant data
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LOG_DISARMED 0 # Don't log when disarmed
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