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140 lines
4.1 KiB
YAML
140 lines
4.1 KiB
YAML
# Config file for mavros
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# Based on https://raw.githubusercontent.com/mavlink/mavros/master/mavros/launch/px4_config.yaml
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startup_px4_usb_quirk: true
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conn:
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heartbeat_rate: 1.0 # send hertbeat rate in Hertz
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timeout: 10.0 # hertbeat timeout in seconds
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timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
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system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)
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time:
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time_ref_source: "fcu" # time_reference source
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timesync_mode: MAVLINK
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timesync_avg_alpha: 0.6 # timesync averaging factor
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global_position:
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frame_id: "map" # origin frame
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child_frame_id: "base_link" # body-fixed frame
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rot_covariance: 99999.0 # covariance for attitude?
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gps_uere: 1.0 # User Equivalent Range Error (UERE) of GPS sensor (m)
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use_relative_alt: true # use relative altitude for local coordinates
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tf:
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send: false # send TF?
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frame_id: "map" # TF frame_id
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global_frame_id: "earth" # TF earth frame_id
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child_frame_id: "base_link" # TF child_frame_id
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imu:
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frame_id: "base_link"
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# need find actual values
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linear_acceleration_stdev: 0.0003
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angular_velocity_stdev: !degrees 0.02
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orientation_stdev: 1.0
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magnetic_stdev: 0.0
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local_position:
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frame_id: "map"
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tf:
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send: true
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send_fcu: false
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# setpoint_attitude
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setpoint_attitude:
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reverse_thrust: false # allow reversed thrust
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use_quaternion: true # enable PoseStamped topic subscriber
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tf:
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listen: false # enable tf listener (disable topic subscribers)
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frame_id: "map"
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child_frame_id: "target_attitude"
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rate_limit: 50.0
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setpoint_raw:
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thrust_scaling: 1.0 # used in setpoint_raw attitude callback.
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# Note: PX4 expects normalized thrust values between 0 and 1, which means that
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# the scaling needs to be unitary and the inputs should be 0..1 as well.
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setpoint_position:
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tf:
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listen: false # enable tf listener (disable topic subscribers)
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frame_id: "map"
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child_frame_id: "target_position"
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rate_limit: 50.0
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mav_frame: LOCAL_NED
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setpoint_velocity:
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mav_frame: LOCAL_NED
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mission:
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pull_after_gcs: true # update mission if gcs updates
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distance_sensor:
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rangefinder:
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id: 0
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frame_id: "rangefinder"
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orientation: PITCH_270
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field_of_view: 0.5
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rangefinder_sub:
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subscriber: true
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# fake_gps
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fake_gps:
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# select data source
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use_mocap: true # ~mocap/pose
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mocap_transform: true # ~mocap/tf instead of pose
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use_vision: false # ~vision (pose)
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# origin (default: Zürich)
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geo_origin:
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lat: 47.3667 # latitude [degrees]
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lon: 8.5500 # longitude [degrees]
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alt: 408.0 # altitude (height over the WGS-84 ellipsoid) [meters]
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eph: 2.0
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epv: 2.0
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satellites_visible: 5 # virtual number of visible satellites
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fix_type: 3 # type of GPS fix (default: 3D)
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tf:
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listen: false
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send: false # send TF?
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frame_id: "map" # TF frame_id
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child_frame_id: "fix" # TF child_frame_id
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rate_limit: 10.0 # TF rate
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gps_rate: 5.0 # GPS data publishing rate
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mocap:
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# select mocap source
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use_tf: false # ~mocap/tf
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use_pose: true # ~mocap/pose
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odometry:
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in:
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frame_id: "odom"
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child_frame_id: "base_link"
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frame_tf:
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local_frame: "local_origin_ned"
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body_frame_orientation: "flu"
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out:
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frame_tf:
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# available: check MAV_FRAME odometry local frames in
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# https://mavlink.io/en/messages/common.html
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local_frame: "vision_ned"
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# available: ned, frd or flu (though only the tf to frd is supported)
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body_frame_orientation: "frd"
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px4flow:
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frame_id: "px4flow"
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ranger_fov: !degrees 6.8 # 6.8 degreens at 5 meters, 31 degrees at 1 meter
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ranger_min_range: 0.3 # meters
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ranger_max_range: 5.0 # meters
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vision_pose:
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tf:
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listen: false # enable tf listener (disable topic subscribers)
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vision_speed:
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listen_twist: true # enable listen to twist topic, else listen to vec3d topic
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twist_cov: true # enable listen to twist with covariance topic
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vibration:
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frame_id: "base_link"
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