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control_fsm_default_config.yaml
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control_fsm_default_config.yaml
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{
#When is altitude reached
altitude_reached_margin: 0.1,
#Default blind hover altitude
blind_hover_altitude: 1.0,
#Safe altitude for hovering
safe_hover_alt: 1.0,
#When is a destination reached
dest_reached_margin: 0.2,
#Topic for publishing error messages
fsm_error_topic: control/fsm/on_error,
#Topic for publishing info messages
fsm_info_topic: control/fsm/on_info,
#Topic for publishing current state
fsm_state_changed_topic: control/fsm/state_changed,
#Topic for publishing warning messages
fsm_warn_topic: control/fsm/on_warn,
#Altitude for optimal gb detection
gb_search_altitude: 1.0,
#Time to wait before automatic landing
goto_hold_dest_time: 0.5,
#Topic for recieving land detector data
land_detector_topic: /land_detector,
#Land detector type - landing_gear or mavros_extended_state
land_detector_type: landing_gear,
#Topic for recieving lidar info
lidar_topic: /perception/obstacles/lidar,
#Topic for recieving local velocity estimates
local_velocity_topic: /mavros/local_position/velocity,
#Topic for recieving local position estimates
local_position_topic: /mavros/local_position/pose,
#Topic for recieving distance data
distance_sensor_topic: /mavros/distance_sensor/hrlv_ez4_pub,
#Topic for recieving mavros state
mavros_state_topic: /mavros/state,
#Topic for debug server
debug_server_topic: /control/fsm/debug_server,
#Topic for action server
action_server_topic: /control/fsm/action_server,
#When is message considered old?
message_timeout: 2.0,
#For what distances is it uneccesary to adjust yaw
no_yaw_correct_dist: 0.2,
#Safety distance
obstacle_too_close_dist: 2.0,
#Require all data streams to enable FSM
require_all_streams: true,
#Require obstacle detection
require_obs_detection: true,
#Safe altitude for hovering
safe_hover_alt: 1.0,
#Margin to determine if we're close enough to setpoint
setp_reached_margin: 0.2,
#Buffersize for status messages
status_msg_buffer_size: 10,
#Takeoff altitude
takeoff_altitude: 1.0,
#Margin to determine if we're close enough to yaw setpoint
yaw_reached_margin: 0.02,
#Altitude for goto in landxy
land_xy_goto_alt: 1.0,
#Minimum flying altitude
min_in_air_alt: 0.5,
#Topic for recieving obstacle state data
obstacle_state_topic: perception/obstacles/lidar,
#Margin to determine if velocity is reached
velocity_reached_margin: 0.1,
#Obstacle avoidance clearance
obstacle_clearance_max: 2.5,
obstacle_clearance_min: 1.5,
#Obstacle avoidance checkradius
obstacle_clearance_checkradius: 40.0,
#Frame ID for global frame
global_frame_id: map,
#Frame ID for local frame
local_frame_id: odom,
#Use global to local transforms
use_global_transforms: true,
#Restrict arena boundaries
restrict_arena_boundaries: true,
#Lowest allowed global x position
arena_lowest_x: 0.0,
#Lowest allowed global y position
arena_lowest_y: 0.0,
#Highest allowed global x position
arena_highest_x: 20.0,
#Highest allowed global y position
arena_highest_y: 20.0,
#Require use of distance sensor
require_distance_sensor: true
}