75 lines
1.3 KiB
YAML
75 lines
1.3 KiB
YAML
connection:
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sim: "tcp:127.0.0.1:5760"
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real: "/dev/ttyAMA0"
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baud: 57600
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flight:
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takeoff_altitude: 5.0
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max_altitude: 15.0
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min_altitude: 3.0
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max_velocity: 2.0
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max_acceleration: 1.0
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max_climb_rate: 1.0
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max_yaw_rate: 45.0
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navigation:
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frame: LOCAL_NED
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waypoint_radius: 0.5
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position_hold_radius: 0.2
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home_mode: local
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vision:
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forward_camera:
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enabled: true
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frame_rate: 30
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resolution: [640, 480]
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downward_camera:
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enabled: true
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frame_rate: 30
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resolution: [320, 240]
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visual_odometry:
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enabled: true
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method: ORB
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min_features: 100
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max_features: 500
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optical_flow:
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enabled: true
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method: Lucas-Kanade
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window_size: 15
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min_altitude: 0.3
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max_altitude: 10.0
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landmark_detection:
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enabled: true
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method: ArUco
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marker_size: 0.15
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position_estimation:
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method: EKF
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update_rate: 50
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weights:
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visual_odometry: 0.6
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optical_flow: 0.3
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imu: 0.1
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process_noise:
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position: 0.1
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velocity: 0.5
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measurement_noise:
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visual_odom: 0.05
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optical_flow: 0.1
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imu: 0.2
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obstacle_avoidance:
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enabled: true
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detection_range: 5.0
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safety_margin: 1.0
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safety:
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geofence:
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enabled: true
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action_on_breach: RTL
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max_altitude: 10
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radius: 20
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failsafe:
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vision_loss_timeout: 5.0
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action_on_vision_loss: HOLD
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