nppilot: imported files from the rover computer.

master
Michael Hope 4 years ago
parent 7954d8f903
commit 103118e0b9

@ -0,0 +1,103 @@
- {name: ACC_LPF_ALPHA, type: 9, value: 0.5}
- {name: ACC_X_BIAS, type: 9, value: -0.1862552165985107}
- {name: ACC_X_TEMP_COMP, type: 9, value: 0}
- {name: ACC_Y_BIAS, type: 9, value: -0.5737432241439819}
- {name: ACC_Y_TEMP_COMP, type: 9, value: 0}
- {name: ACC_Z_BIAS, type: 9, value: 0.675139307975769}
- {name: ACC_Z_TEMP_COMP, type: 9, value: 0}
- {name: AIL_REV, type: 6, value: 0}
- {name: ARM_CHANNEL, type: 6, value: 4}
- {name: ARM_SPIN_MOTORS, type: 6, value: 0}
- {name: ARM_THRESHOLD, type: 9, value: 0.3199999928474426}
- {name: BARO_BIAS, type: 9, value: 11987.50390625}
- {name: BAUD_RATE, type: 6, value: 921600}
- {name: CAL_GYRO_ARM, type: 6, value: 0}
- {name: DIFF_PRESS_BIAS, type: 9, value: 0}
- {name: ELEVATOR_REV, type: 6, value: 0}
- {name: FAILSAFE_THR, type: 9, value: 0.300000011920929}
- {name: FC_PITCH, type: 9, value: 0}
- {name: FC_ROLL, type: 9, value: 0}
- {name: FC_YAW, type: 9, value: 0}
- {name: FILTER_INIT_T, type: 6, value: 3000}
- {name: FILTER_KI, type: 9, value: 0.05000000074505806}
- {name: FILTER_KP, type: 9, value: 0.5}
- {name: FILTER_MAT_EXP, type: 6, value: 1}
- {name: FILTER_QUAD_INT, type: 6, value: 1}
- {name: FILTER_USE_ACC, type: 6, value: 1}
- {name: FIXED_WING, type: 6, value: 1}
- {name: GROUND_LEVEL, type: 9, value: 1387}
- {name: GYRO_LPF_ALPHA, type: 9, value: 0.300000011920929}
- {name: GYRO_X_BIAS, type: 9, value: -0.03961018100380898}
- {name: GYRO_Y_BIAS, type: 9, value: -0.02000109478831291}
- {name: GYRO_Z_BIAS, type: 9, value: -0.002409113803878427}
- {name: MAG_A11_COMP, type: 9, value: 1}
- {name: MAG_A12_COMP, type: 9, value: 0}
- {name: MAG_A13_COMP, type: 9, value: 0}
- {name: MAG_A21_COMP, type: 9, value: 0}
- {name: MAG_A22_COMP, type: 9, value: 1}
- {name: MAG_A23_COMP, type: 9, value: 0}
- {name: MAG_A31_COMP, type: 9, value: 0}
- {name: MAG_A32_COMP, type: 9, value: 0}
- {name: MAG_A33_COMP, type: 9, value: 1}
- {name: MAG_X_BIAS, type: 9, value: 0}
- {name: MAG_Y_BIAS, type: 9, value: 0}
- {name: MAG_Z_BIAS, type: 9, value: 0}
- {name: MIN_THROTTLE, type: 6, value: 0}
- {name: MIXER, type: 6, value: 10}
- {name: MOTOR_IDLE_THR, type: 9, value: 0.3200000014901161}
- {name: MOTOR_MAX_PWM, type: 6, value: 2000}
- {name: MOTOR_MIN_PWM, type: 6, value: 1000}
- {name: MOTOR_PWM_UPDATE, type: 6, value: 100}
- {name: OVRD_LAG_TIME, type: 6, value: 1000}
- {name: PARAM_MAX_CMD, type: 9, value: 1}
- {name: PID_PITCH_ANG_D, type: 9, value: 0.05000000074505806}
- {name: PID_PITCH_ANG_I, type: 9, value: 0}
- {name: PID_PITCH_ANG_P, type: 9, value: 0.1500000059604645}
- {name: PID_PITCH_RATE_D, type: 9, value: 0}
- {name: PID_PITCH_RATE_I, type: 9, value: 0}
- {name: PID_PITCH_RATE_P, type: 9, value: 0.07000000029802322}
- {name: PID_ROLL_ANG_D, type: 9, value: 0.05000000074505806}
- {name: PID_ROLL_ANG_I, type: 9, value: 0}
- {name: PID_ROLL_ANG_P, type: 9, value: 0.1500000059604645}
- {name: PID_ROLL_RATE_D, type: 9, value: 0}
- {name: PID_ROLL_RATE_I, type: 9, value: 0}
- {name: PID_ROLL_RATE_P, type: 9, value: 0.07000000029802322}
- {name: PID_TAU, type: 9, value: 0.05000000074505806}
- {name: PID_YAW_RATE_D, type: 9, value: 0}
- {name: PID_YAW_RATE_I, type: 9, value: 0}
- {name: PID_YAW_RATE_P, type: 9, value: 0.25}
- {name: RC_ATT_CTRL_CHN, type: 6, value: -1}
- {name: RC_ATT_MODE, type: 6, value: 1}
- {name: RC_ATT_OVRD_CHN, type: 6, value: -1}
- {name: RC_F_CHN, type: 6, value: 2}
- {name: RC_MAX_PITCH, type: 9, value: 0.7860000133514404}
- {name: RC_MAX_PITCHRATE, type: 9, value: 3.141590118408203}
- {name: RC_MAX_ROLL, type: 9, value: 0.7860000133514404}
- {name: RC_MAX_ROLLRATE, type: 9, value: 3.141590118408203}
- {name: RC_MAX_YAWRATE, type: 9, value: 1.506999969482422}
- {name: RC_NUM_CHN, type: 6, value: 6}
- {name: RC_OVRD_DEV, type: 9, value: 0.1000000014901161}
- {name: RC_THR_OVRD_CHN, type: 6, value: -1}
- {name: RC_TYPE, type: 6, value: 1}
- {name: RC_X_CHN, type: 6, value: 0}
- {name: RC_Y_CHN, type: 6, value: 1}
- {name: RC_Z_CHN, type: 6, value: 3}
- {name: RUDDER_REV, type: 6, value: 0}
- {name: STRM_AIRSPEED, type: 6, value: 1}
- {name: STRM_ATTITUDE, type: 6, value: 100}
- {name: STRM_BARO, type: 6, value: 10}
- {name: STRM_HRTBT, type: 6, value: 1}
- {name: STRM_IMU, type: 6, value: 100}
- {name: STRM_MAG, type: 6, value: 50}
- {name: STRM_RC, type: 6, value: 20}
- {name: STRM_SERVO, type: 6, value: 20}
- {name: STRM_SONAR, type: 6, value: 1}
- {name: STRM_STATUS, type: 6, value: 5}
- {name: SWITCH_5_DIR, type: 6, value: 1}
- {name: SWITCH_6_DIR, type: 6, value: 1}
- {name: SWITCH_7_DIR, type: 6, value: 1}
- {name: SWITCH_8_DIR, type: 6, value: 1}
- {name: SYS_ID, type: 6, value: 1}
- {name: X_EQ_TORQUE, type: 9, value: 0}
- {name: Y_EQ_TORQUE, type: 9, value: 0}
- {name: Z_EQ_TORQUE, type: 9, value: 0}

@ -0,0 +1,30 @@
debug: 2 # Range 0-4 (0 means no debug statements will print)
device: /dev/ttyS0
frame_id: gps
dynamic_model: automotive
fix_mode: auto # Switches between 2D/3D automatically
#dr_limit: 0 # Dead reckoning limit
rate: 10 # Measurement rate in Hz
nav_rate: 1 # in number of measurement cycles
uart1:
baudrate: 115200 # baudrate is device specific, check the device manual
in: 1 # UBX
out: 1 # RTCM
# GNSS Config, verify which GNSS are supported by your device
gnss:
gps: true # (not required since it defaults to true)
glonass: false
beidou: false
qzss: false
sbas: false
inf:
all: true # Whether to display INF messages
# Message subscriptions
subscribe:
all: true # Subscribe to all messages

@ -1,10 +1,10 @@
Kp: 0
Ki: 0
Kp: 0.1
Ki: 0.5
Kd: 0
upper_limit: 1
lower_limit: -1
windup_limit: 0.5
windup_limit: 1
setpoint_topic: /yaw_rate/sp
topic_from_plant: /yaw_rate/pv

@ -0,0 +1,9 @@
<launch>
<node name="rosflight_io" pkg="rosflight" type="rosflight_io">
<param name="port" value="/dev/ttyUSB0"/>
</node>
<node pkg="ublox_gps" type="ublox_gps" name="ublox_gps">
<rosparam command="load" file="$(find nppilot)/config/rover_gps.yaml" />
</node>
</launch>
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