65 lines
1.9 KiB
Plaintext
65 lines
1.9 KiB
Plaintext
# ArduPilot Parameters for GPS-Denied Navigation Simulation
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# =========================================================
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# GPS is ENABLED for: Geofence safety, LOCAL_POSITION_NED telemetry
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# GPS is SIMULATED DENIED for: Control (using GUIDED_NOGPS mode)
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# ====================
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# GPS Configuration
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# ====================
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# Enable GPS (needed for geofence and position telemetry)
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GPS_TYPE 1 # Auto-detect
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# ====================
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# Geofence Settings
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# ====================
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# Safety cage - uses GPS for boundaries
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FENCE_ENABLE 1
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FENCE_TYPE 3 # Alt + Circle
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FENCE_ACTION 2 # Land on breach
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FENCE_ALT_MAX 10 # Maximum altitude (meters)
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FENCE_RADIUS 20 # 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 GPS (for telemetry)
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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 - GPS for position (enables LOCAL_POSITION_NED)
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EK3_SRC1_POSXY 3 # GPS for XY position
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EK3_SRC1_POSZ 1 # Barometer for Z position
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EK3_SRC1_VELXY 3 # GPS for XY velocity
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EK3_SRC1_VELZ 0 # None for Z velocity
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EK3_SRC1_YAW 1 # Compass for yaw
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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_GPS_ENABLE 0 # Disable GPS failsafe (we simulate GPS-denied)
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# ====================
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# Flight Modes
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# ====================
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FLTMODE1 0 # Stabilize
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FLTMODE2 2 # Alt Hold
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FLTMODE3 5 # Loiter
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FLTMODE4 4 # Guided
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FLTMODE5 6 # RTL
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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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ARMING_CHECK 0 # Disable all checks (for simulation)
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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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