From dd7b3648af23b13168a87b8d8bd8c83fa19203e4 Mon Sep 17 00:00:00 2001 From: Arthur Golubtsov Date: Mon, 13 Jan 2020 19:13:52 +0000 Subject: [PATCH] Client: Update config specs --- Drone/config/client.ini | 71 ++++++++++++++++++++++--- Drone/config/spec/configspec_client.ini | 54 ++++++++++--------- 2 files changed, 92 insertions(+), 33 deletions(-) diff --git a/Drone/config/client.ini b/Drone/config/client.ini index 29978d6..5faa4c5 100644 --- a/Drone/config/client.ini +++ b/Drone/config/client.ini @@ -1,4 +1,4 @@ -# This is generated config_attrs with defaults +# This is generated config with default values # Modify to configure config_name = Copter config config_version = 0.0 @@ -12,14 +12,69 @@ buffer_size = 1024 use = True port = 8181 +[TELEMETRY] +transmit = True +frequency = 1.0 +log_resources = True + +[VISUAL POSE WATCHDOG] +timeout = 1.0 +pos_delta_max = 3.0 +# Available options: emergency_land, land, disarm +action = emergency_land + +[EMERGENCY LAND] +thrust = 0.45 +decrease_thrust_after = 5.0 +disarm_timeout = 10.0 + +[COPTER] +frame_id = map +takeoff_height = 1.0 +takeoff_time = 5.0 +safe_takeoff = False +reach_first_point_time = 5.0 +land_time = 1.0 +land_timeout = 10.0 +common_offset = 0.0, 0.0, 0.0 + +[FLOOR FRAME] +enabled = False +parent = map +# Frame translation (x, y, z) +# __list__ x y z +translation = 0.0, 0.0, 0.0 +# Frame rotation (roll, pitch, yaw) in degrees +# __list__ roll pitch yaw +rotation = 0.0, 0.0, 0.0 + +[ANIMATION] +takeoff_detection = True +land_detection = True +frame_delay = 0.1 +# Animation ratio (x, y, z) +# __list__ x y z +ratio = 1.0, 1.0, 1.0 +# Available options: 'animation', 'nan' or a number in degrees +yaw = 180.0 + +[LED] +use = True +pin = 21 +count = 60 + +[PRIVATE] +# Available options: /hostname ; /default ; /ip ; any string 63 characters length +id = /hostname +# Drone's individual offset (x, y, z) +# __list__ x y z +offset = 0.0, 0.0, 0.0 + +[SYSTEM] +change_hostname = True +restart_after_rename = True + [NTP] use = False host = ntp1.stratum2.ru port = 123 - -[PRIVATE] -# avialiable options: /hostname ; /spec_default ; /ip ; any string 63 characters lengh -id = /hostname -# Drone's individual offset (X, Y, Z) -# __list__ X Y Z -offset = 0.0, 0.0, 0.0 diff --git a/Drone/config/spec/configspec_client.ini b/Drone/config/spec/configspec_client.ini index 04c6ecd..37038bb 100644 --- a/Drone/config/spec/configspec_client.ini +++ b/Drone/config/spec/configspec_client.ini @@ -10,26 +10,23 @@ buffer_size = integer(default=1024) use = boolean(default=True) port = integer(default=8181) +[TELEMETRY] +transmit = boolean(default=True) +frequency = float(default=1.0) +log_resources = boolean(default=True) + [VISUAL POSE WATCHDOG] timeout = float(default=1.0, min=0) pos_delta_max = float(default=3.0, min=0) +# Available options: emergency_land, land, disarm action = string(default=emergency_land) - [EMERGENCY LAND] - thrust = float(default=0.45, min=0, max=1) - decrease_thrust_after = float(default=5.0, min=0) #TODO change name PLS - disarm_timeout = float(default=10.0, min=0) -[FRAMES] - [[__many__]] - parent = string(default=aruco_map) # todo scale? - # Frame offset (x, y, z) - # __list__ x y z - offset = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3) - # Frame rotation (roll, pitch, yaw) - # __list__ roll pitch yaw - rotation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3) +[EMERGENCY LAND] +thrust = float(default=0.45, min=0, max=1) +decrease_thrust_after = float(default=5.0, min=0) +disarm_timeout = float(default=10.0, min=0) -[FLIGHT] +[COPTER] frame_id = string(default=map) takeoff_height = float(default=1.0) takeoff_time = float(default=5.0, min=0) @@ -37,19 +34,27 @@ safe_takeoff = boolean(default=False) reach_first_point_time = float(default=5.0) land_time = float(default=1.0, min=0) land_timeout = float(default=10.0, min=0) +common_offset = float_list(default=list(0, 0, 0), min=3, max=3) + +[FLOOR FRAME] +enabled = boolean(default=False) +parent = string(default=map) +# Frame translation (x, y, z) +# __list__ x y z +translation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3) +# Frame rotation (roll, pitch, yaw) in degrees +# __list__ roll pitch yaw +rotation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3) [ANIMATION] takeoff_detection = boolean(default=True) land_detection = boolean(default=True) -default_fps = float(default=10, min=0) -# Animation scale (x, y, z) +frame_delay = float(default=0.1, min=0.01) +# Animation ratio (x, y, z) # __list__ x y z -scale = float_list(default=list(1.0, 1.0, 1.0), min=3, max=3) - -[TELEMETRY] -send = boolean(default=True) -land_pos_delta = float(default=3.0, min=0) # TODO move to watchdog + rename? -log_resources = boolean(default=True) +ratio = float_list(default=list(1.0, 1.0, 1.0), min=3, max=3) +# Available options: 'animation', 'nan' or a number in degrees +yaw = string(default=180.0) [LED] use = boolean(default=True) @@ -57,16 +62,15 @@ pin = integer(default=21, min=0, max=100) count = integer(default=60, min=1) [PRIVATE] -# available options: /hostname ; /default ; /ip ; any string 63 characters length +# Available options: /hostname ; /default ; /ip ; any string 63 characters length id = string(default=/hostname, max=63) #TODO our re check # Drone's individual offset (x, y, z) # __list__ x y z offset = float_list(default=list(0, 0, 0), min=3, max=3) -yaw = float(default=180.0) [SYSTEM] change_hostname = boolean(default=True) -rename_restart = boolean(default=True) +restart_after_rename = boolean(default=True) [NTP] use = boolean(default=False)