SafeController.yaml 1.82 KB
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################### VICON Settings
#equlibrium offset
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#feedforwardMotor: [41000, 41000, 41000, 41000]
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#quadratic motor regression equation (a0, a1, a2)
motorPoly: [5.484560e-4, 1.032633e-6, 2.130295e-11]

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#feedback gain matrix original
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#gainMatrixRoll: [0, -1.714330725, 0, 0, -1.337107465, 0, 5.115369735, 0, 0]
#gainMatrixPitch: [1.714330725, 0, 0, 1.337107465, 0, 0, 0, 5.115369735, 0]
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gainMatrixYaw: [0, 0, 0, 0, 0, 0, 0, 0, 2.843099534]
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#gainMatrixThrust: [0, 0, 0.22195826, 0, 0, 0.12362477, 0, 0, 0]
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#kalman filter
filterGain: [1, 1, 1, 22.3384, 22.3384, 22.3384] #K_infinite of feedback
estimatorMatrix: [-22.3384, 0.9106] #only for velocity calculation

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#setpoint in meters (x, y, z, yaw)
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defaultSetpoint: [0.0, 0.0, 0, 0.0]
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#take off and landing parameters (in meters and seconds)
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takeOffDistance : 0.4
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landingDistance : -0.5
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durationTakeOff : 3
durationLanding : 3
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# Liner Trayectory following parameters
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#distanceThreshold : 0.5
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################### UWB Settings
#equlibrium offset
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feedforwardMotor: [43000, 43000, 43000, 43000]
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#quadratic motor regression equation (a0, a1, a2)
#motorPoly: [5.484560e-4, 1.032633e-6, 2.130295e-11]

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#feedback gain matrix changed
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gainMatrixRoll: [0, -1.3, 0, 0, -0.9, 0, 4.715369735, 0, 0]
gainMatrixPitch: [1.3, 0, 0, 0.9, 0, 0, 0, 4.715369735, 0]
#gainMatrixYaw: [0, 0, 0, 0, 0, 0, 0, 0, 2.843099534]
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gainMatrixThrust: [0, 0, 0.20195826, 0, 0, 0.08362477, 0, 0, 0]
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#kalman filter
#filterGain: [1, 1, 1, 22.3384, 22.3384, 22.3384] #K_infinite of feedback
#estimatorMatrix: [-22.3384, 0.9106] #only for velocity calculation

#setpoint in meters (x, y, z, yaw)
#defaultSetpoint: [0.0, 0.0, 0.4, 0.0]

#take off and landing parameters (in meters and seconds)
#takeOffDistance : 0.4
#landingDistance : -0.5
#durationTakeOff : 3
#durationLanding : 3

# Liner Trayectory following parameters
distanceThreshold : 0.3