73 lines
1.7 KiB
YAML
73 lines
1.7 KiB
YAML
# MAVROS Configuration for GPS-Denied Navigation
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# GPS is DISABLED for navigation, ENABLED only for geofencing
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/**:
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ros__parameters:
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use_sim_time: true
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# Connection
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fcu_protocol: "v2.0"
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# System
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system_id: 1
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component_id: 1
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# Time sync
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time:
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time_ref_source: "fcu"
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timesync_mode: MAVLINK
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timesync_avg_alpha: 0.6
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# GPS Settings - ONLY for geofencing
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gps:
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# Disable GPS for navigation
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use_gps_for_navigation: false
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# Enable GPS only for geofence
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enable_gps_geofence: true
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# Local position (PRIMARY navigation source)
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local_position:
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frame_id: "map"
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tf:
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send: true
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frame_id: "map"
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child_frame_id: "base_link"
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# Use local odometry, NOT GPS
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use_vision: true # Will use our visual odometry
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# Vision pose input (from visual odometry)
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vision_pose:
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tf:
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listen: false
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frame_id: "odom"
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child_frame_id: "base_link"
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# Vision speed input (from optical flow)
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vision_speed:
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listen_twist: true
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# Setpoint configuration
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setpoint_raw:
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thrust_scaling: 1.0
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setpoint_position:
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tf:
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listen: false
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# Use LOCAL_NED frame (relative positioning)
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mav_frame: 1 # MAV_FRAME_LOCAL_NED
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setpoint_velocity:
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mav_frame: 8 # MAV_FRAME_BODY_NED (body-relative)
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# Disable GPS-based modes
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# Only allow: MANUAL, STABILIZE, ALT_HOLD, GUIDED (local), LOITER (local)
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allowed_modes:
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- "MANUAL"
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- "STABILIZE"
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- "ALT_HOLD"
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- "GUIDED"
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- "LOITER"
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- "RTL" # Returns to LOCAL origin, not GPS home
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