43 lines
1.5 KiB
YAML
43 lines
1.5 KiB
YAML
# ─── Mission / Search Configuration ──────────────────────────
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# Single source of truth for all mission parameters.
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# ── Flight ───────────────────────────────────────────────────
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altitude: 4.0 # Search altitude (meters)
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# ── ArUco Marker ─────────────────────────────────────────────
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marker:
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dictionary: DICT_4X4_50
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size: 0.5 # Physical marker size in meters
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landing_ids: [0] # Marker IDs that trigger landing (on UGV)
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target_ids: [1] # Marker IDs to find and report to UGV
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# ── Search Patterns ──────────────────────────────────────────
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spiral:
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max_legs: 12
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initial_leg: 4.0
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leg_increment: 3.2
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lawnmower:
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width: 30.0
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height: 30.0
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lane_spacing: 3.2
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lanes: 2
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levy:
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max_steps: 20
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field_size: 50.0
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# ── Geofence ─────────────────────────────────────────────────
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geofence:
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enabled: true
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warning_distance: 3.0
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min_altitude: 0.0
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max_altitude: 15.0
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# Polygon vertices in local NED (x=North, y=East) meters
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# Centered on UAV start position (0, 0)
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points:
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- [-15, -15]
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- [-15, 15]
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- [15, 15]
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- [15, -15]
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