diff --git a/config/old/simulation/big_dofec/constraint_manager/constraint_manager.yaml b/config/old/simulation/big_dofec/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/big_dofec/constraint_manager/constraints.yaml b/config/old/simulation/big_dofec/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/big_dofec/control_manager.yaml b/config/old/simulation/big_dofec/control_manager.yaml deleted file mode 100644 index 9ecef7c8..00000000 --- a/config/old/simulation/big_dofec/control_manager.yaml +++ /dev/null @@ -1,27 +0,0 @@ -# - list of names of dynamically loaded trackers -trackers : [ - "MpcTracker", - "LineTracker", - "LandoffTracker", - "JoyTracker", - "SpeedTracker", - "FlipTracker", - "NullTracker", - "MidairActivationTracker", -] - -# - list of names of dynamically loaded controllers -controllers : [ - "Se3Controller", - "MpcController", - "FailsafeController", - "EmergencyController", - "MidairActivationController", -] - -safety: - - min_thrust_null_tracker: 0.15 # [] minimum thrust when not flying - - # when the active tracker returns empty command - tracker_error_action: "ehover" # {eland, ehover} diff --git a/config/old/simulation/big_dofec/controllers.yaml b/config/old/simulation/big_dofec/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/big_dofec/gain_manager/gain_manager.yaml b/config/old/simulation/big_dofec/gain_manager/gain_manager.yaml deleted file mode 100644 index 87aa3cff..00000000 --- a/config/old/simulation/big_dofec/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,29 +0,0 @@ -gains: [ - "supersoft", - "soft", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - gps_garmin: ["supersoft", 'soft'] - gps_baro: ["supersoft", 'soft'] - rtk: ["supersoft"] - aloam: ["soft"] - vio: ["supersoft"] - hector_garmin: ["soft"] - optflow: ["supersoft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - gps_garmin: "supersoft" - gps_baro: "supersoft" - rtk: "supersoft" - aloam: "soft" - vio: "supersoft" - hector_garmin: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/simulation/big_dofec/gain_manager/gains.yaml b/config/old/simulation/big_dofec/gain_manager/gains.yaml deleted file mode 100644 index c352252e..00000000 --- a/config/old/simulation/big_dofec/gain_manager/gains.yaml +++ /dev/null @@ -1,55 +0,0 @@ -supersoft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.3 - kib_lim: 10.0 - - kiw: 0.3 - kiw_lim: 10.0 - - vertical: - kp: 5.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 0.5 - km_lim: 7.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 6.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 0.5 - km_lim: 7.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/simulation/big_dofec/mass.yaml b/config/old/simulation/big_dofec/mass.yaml deleted file mode 100644 index f5eef790..00000000 --- a/config/old/simulation/big_dofec/mass.yaml +++ /dev/null @@ -1 +0,0 @@ -uav_mass: 10.00 # [kg] diff --git a/config/old/simulation/big_dofec/trackers.yaml b/config/old/simulation/big_dofec/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/big_dofec/uav_manager.yaml b/config/old/simulation/big_dofec/uav_manager.yaml deleted file mode 100644 index 1dad9fd9..00000000 --- a/config/old/simulation/big_dofec/uav_manager.yaml +++ /dev/null @@ -1,17 +0,0 @@ -takeoff: - - during_takeoff: - tracker: "LandoffTracker" - controller: "MpcController" - - after_takeoff: - tracker: "MpcTracker" - controller: "Se3Controller" - - pirouette: false - - takeoff_height: 1.5 - -landing: - - disarm: false diff --git a/config/old/simulation/coppelia_quad/constraint_manager/constraint_manager.yaml b/config/old/simulation/coppelia_quad/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/coppelia_quad/constraint_manager/constraints.yaml b/config/old/simulation/coppelia_quad/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/coppelia_quad/control_manager.yaml b/config/old/simulation/coppelia_quad/control_manager.yaml deleted file mode 100644 index 9ecef7c8..00000000 --- a/config/old/simulation/coppelia_quad/control_manager.yaml +++ /dev/null @@ -1,27 +0,0 @@ -# - list of names of dynamically loaded trackers -trackers : [ - "MpcTracker", - "LineTracker", - "LandoffTracker", - "JoyTracker", - "SpeedTracker", - "FlipTracker", - "NullTracker", - "MidairActivationTracker", -] - -# - list of names of dynamically loaded controllers -controllers : [ - "Se3Controller", - "MpcController", - "FailsafeController", - "EmergencyController", - "MidairActivationController", -] - -safety: - - min_thrust_null_tracker: 0.15 # [] minimum thrust when not flying - - # when the active tracker returns empty command - tracker_error_action: "ehover" # {eland, ehover} diff --git a/config/old/simulation/coppelia_quad/controllers.yaml b/config/old/simulation/coppelia_quad/controllers.yaml deleted file mode 100644 index e129e2db..00000000 --- a/config/old/simulation/coppelia_quad/controllers.yaml +++ /dev/null @@ -1,6 +0,0 @@ -Se3Controller: - address: "mrs_uav_controllers/Se3Controller" - namespace: "se3_controller" - eland_threshold: 3.0 # [m], position error triggering eland - failsafe_threshold: 6.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 2.0 # [m], position odometry innovation threshold diff --git a/config/old/simulation/coppelia_quad/gain_manager/gain_manager.yaml b/config/old/simulation/coppelia_quad/gain_manager/gain_manager.yaml deleted file mode 100644 index 1212f5bf..00000000 --- a/config/old/simulation/coppelia_quad/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,32 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - ground_truth: ["supersoft", 'soft', 'tight'] - gps_garmin: ["supersoft", 'soft', 'tight'] - gps_baro: ["supersoft", 'soft', 'tight'] - rtk: ["supersoft", 'soft', 'tight'] - aloam: ["soft"] - vio: ["supersoft","soft"] - hector_garmin: ["soft"] - optflow: ["supersoft", "soft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - ground_truth: "soft" - gps_garmin: "soft" - gps_baro: "soft" - rtk: "soft" - aloam: "soft" - vio: "supersoft" - hector_garmin: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/simulation/coppelia_quad/gain_manager/gains.yaml b/config/old/simulation/coppelia_quad/gain_manager/gains.yaml deleted file mode 100644 index 49629d9c..00000000 --- a/config/old/simulation/coppelia_quad/gain_manager/gains.yaml +++ /dev/null @@ -1,83 +0,0 @@ -supersoft: - - horizontal: - kp: 3.0 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.5 - kib_lim: 10.0 - - kiw: 0.5 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 2.0 - - mass_estimator: - km: 1.0 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 2.0 - - mass_estimator: - km: 1.0 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 6.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 1.0 - kib_lim: 10.0 - - kiw: 1.0 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 2.0 - - mass_estimator: - km: 1.0 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/simulation/coppelia_quad/mass.yaml b/config/old/simulation/coppelia_quad/mass.yaml deleted file mode 100644 index e5e0d4bb..00000000 --- a/config/old/simulation/coppelia_quad/mass.yaml +++ /dev/null @@ -1 +0,0 @@ -uav_mass: 0.5 # [kg] diff --git a/config/old/simulation/coppelia_quad/model_params.yaml b/config/old/simulation/coppelia_quad/model_params.yaml deleted file mode 100644 index 8211c7ea..00000000 --- a/config/old/simulation/coppelia_quad/model_params.yaml +++ /dev/null @@ -1,42 +0,0 @@ -## -------------------------------------------------------------- -## | Detailed model description # -## -------------------------------------------------------------- - -# these model parameters can be used when -# - 'attitude rate', and/or -# - 'actuator control' -# are done by the MRS system. - -model_params: - - arm_length: 0.25 # [m] - body_height: 0.1 # [m] - - propulsion: - - # force [N] = force_constant * rpm^2 - force_constant: 0.0000049000 - - # torque [Nm] = torque_constant * force [N] - torque_constant: 0.07 - - prop_radius: 0.15 # [m] - - # allocation motors -> torques - - # quadrotor X configuration - # hexarotor X configuration - # [roll torque, [ [RPM_1^2, - # pitch torque, = Alloc * RPM_2^2, - # yaw torque, Matrix ... - # thrust force] ] RPM_n_motors^2] - allocation_matrix: [ - -0.707, 0.707, 0.707, -0.707, # *= force_constant*arm_length - -0.707, 0.707, -0.707, 0.707, # *= force_constant*arm_length - -1, -1, 1, 1, # *= torque_constant*force_constant - 1, 1, 1, 1, # *= force_constant - ] - - rpm: - min: 0 # [revolutions/minute] - max: 1000 # [revolutions/minute] diff --git a/config/old/simulation/coppelia_quad/trackers.yaml b/config/old/simulation/coppelia_quad/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/coppelia_quad/uav_manager.yaml b/config/old/simulation/coppelia_quad/uav_manager.yaml deleted file mode 100644 index 1dad9fd9..00000000 --- a/config/old/simulation/coppelia_quad/uav_manager.yaml +++ /dev/null @@ -1,17 +0,0 @@ -takeoff: - - during_takeoff: - tracker: "LandoffTracker" - controller: "MpcController" - - after_takeoff: - tracker: "MpcTracker" - controller: "Se3Controller" - - pirouette: false - - takeoff_height: 1.5 - -landing: - - disarm: false diff --git a/config/old/simulation/eaglemk2/constraint_manager/constraint_manager.yaml b/config/old/simulation/eaglemk2/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/eaglemk2/constraint_manager/constraints.yaml b/config/old/simulation/eaglemk2/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/eaglemk2/control_manager.yaml b/config/old/simulation/eaglemk2/control_manager.yaml deleted file mode 100644 index 5df0f1a2..00000000 --- a/config/old/simulation/eaglemk2/control_manager.yaml +++ /dev/null @@ -1,31 +0,0 @@ -# - list of names of dynamically loaded trackers -trackers : [ - "MpcTracker", - "LineTracker", - "LandoffTracker", - "JoyTracker", - "SpeedTracker", - "FlipTracker", - "NullTracker", - "MidairActivationTracker", -] - -# - list of names of dynamically loaded controllers -controllers : [ - "Se3Controller", - "MpcController", - "FailsafeController", - "EmergencyController", - "MidairActivationController", -] - -safety: - - min_thrust_null_tracker: 0.15 # [] minimum thrust when not flying - - # when the active tracker returns empty command - tracker_error_action: "ehover" # {eland, ehover} - - parachute: - - enabled: true diff --git a/config/old/simulation/eaglemk2/controllers.yaml b/config/old/simulation/eaglemk2/controllers.yaml deleted file mode 100644 index e129e2db..00000000 --- a/config/old/simulation/eaglemk2/controllers.yaml +++ /dev/null @@ -1,6 +0,0 @@ -Se3Controller: - address: "mrs_uav_controllers/Se3Controller" - namespace: "se3_controller" - eland_threshold: 3.0 # [m], position error triggering eland - failsafe_threshold: 6.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 2.0 # [m], position odometry innovation threshold diff --git a/config/old/simulation/eaglemk2/gain_manager/gain_manager.yaml b/config/old/simulation/eaglemk2/gain_manager/gain_manager.yaml deleted file mode 100644 index 0b3f14a6..00000000 --- a/config/old/simulation/eaglemk2/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,30 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - gps_garmin: ["supersoft", 'soft', 'tight'] - gps_baro: ["supersoft", 'soft', 'tight'] - rtk: ["supersoft", 'soft', 'tight'] - aloam: ["soft"] - vio: ["supersoft"] - hector_garmin: ["soft"] - optflow: ["supersoft", "soft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - gps_garmin: "soft" - gps_baro: "soft" - rtk: "soft" - aloam: "soft" - vio: "supersoft" - hector_garmin: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/simulation/eaglemk2/gain_manager/gains.yaml b/config/old/simulation/eaglemk2/gain_manager/gains.yaml deleted file mode 100644 index ded773ac..00000000 --- a/config/old/simulation/eaglemk2/gain_manager/gains.yaml +++ /dev/null @@ -1,83 +0,0 @@ -supersoft: - - horizontal: - kp: 3.0 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 8.0 - - kib: 0.5 - kib_lim: 10.0 - - kiw: 0.5 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 8.0 - - mass_estimator: - km: 1.0 - km_lim: 10.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 8.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 8.0 - - mass_estimator: - km: 1.0 - km_lim: 10.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 6.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 8.0 - - kib: 1.0 - kib_lim: 10.0 - - kiw: 1.0 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 8.0 - - mass_estimator: - km: 1.0 - km_lim: 10.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/simulation/eaglemk2/mass.yaml b/config/old/simulation/eaglemk2/mass.yaml deleted file mode 100644 index 6bc7e8e9..00000000 --- a/config/old/simulation/eaglemk2/mass.yaml +++ /dev/null @@ -1 +0,0 @@ -uav_mass: 10.0 # [kg] diff --git a/config/old/simulation/eaglemk2/trackers.yaml b/config/old/simulation/eaglemk2/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/eaglemk2/uav_manager.yaml b/config/old/simulation/eaglemk2/uav_manager.yaml deleted file mode 100644 index 1dad9fd9..00000000 --- a/config/old/simulation/eaglemk2/uav_manager.yaml +++ /dev/null @@ -1,17 +0,0 @@ -takeoff: - - during_takeoff: - tracker: "LandoffTracker" - controller: "MpcController" - - after_takeoff: - tracker: "MpcTracker" - controller: "Se3Controller" - - pirouette: false - - takeoff_height: 1.5 - -landing: - - disarm: false diff --git a/config/old/simulation/f330/constraint_manager/constraint_manager.yaml b/config/old/simulation/f330/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f330/constraint_manager/constraints.yaml b/config/old/simulation/f330/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f330/control_manager.yaml b/config/old/simulation/f330/control_manager.yaml deleted file mode 100644 index 9ecef7c8..00000000 --- a/config/old/simulation/f330/control_manager.yaml +++ /dev/null @@ -1,27 +0,0 @@ -# - list of names of dynamically loaded trackers -trackers : [ - "MpcTracker", - "LineTracker", - "LandoffTracker", - "JoyTracker", - "SpeedTracker", - "FlipTracker", - "NullTracker", - "MidairActivationTracker", -] - -# - list of names of dynamically loaded controllers -controllers : [ - "Se3Controller", - "MpcController", - "FailsafeController", - "EmergencyController", - "MidairActivationController", -] - -safety: - - min_thrust_null_tracker: 0.15 # [] minimum thrust when not flying - - # when the active tracker returns empty command - tracker_error_action: "ehover" # {eland, ehover} diff --git a/config/old/simulation/f330/controllers.yaml b/config/old/simulation/f330/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f330/gain_manager/gain_manager.yaml b/config/old/simulation/f330/gain_manager/gain_manager.yaml deleted file mode 100644 index 3b9e067c..00000000 --- a/config/old/simulation/f330/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,32 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - ground_truth: ["supersoft", 'soft', 'tight'] - gps_garmin: ["supersoft", 'soft'] - gps_baro: ["supersoft", 'soft', 'tight'] - rtk: ["supersoft", 'soft', 'tight'] - aloam: ["soft"] - vio: ["supersoft"] - hector_garmin: ["soft"] - optflow: ["supersoft", "soft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - ground_truth: "tight" - gps_garmin: "soft" - gps_baro: "soft" - rtk: "soft" - aloam: "soft" - vio: "supersoft" - hector_garmin: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/simulation/f330/gain_manager/gains.yaml b/config/old/simulation/f330/gain_manager/gains.yaml deleted file mode 100644 index a7f09fcb..00000000 --- a/config/old/simulation/f330/gain_manager/gains.yaml +++ /dev/null @@ -1,83 +0,0 @@ -supersoft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 5.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 6.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/simulation/f330/mass.yaml b/config/old/simulation/f330/mass.yaml deleted file mode 100644 index d44dc8ec..00000000 --- a/config/old/simulation/f330/mass.yaml +++ /dev/null @@ -1 +0,0 @@ -uav_mass: 1.35 # [kg] diff --git a/config/old/simulation/f330/model_params.yaml b/config/old/simulation/f330/model_params.yaml deleted file mode 100644 index 7b7e46f1..00000000 --- a/config/old/simulation/f330/model_params.yaml +++ /dev/null @@ -1,42 +0,0 @@ -## -------------------------------------------------------------- -## | Detailed model description # -## -------------------------------------------------------------- - -# these model parameters can be used when -# - 'attitude rate', and/or -# - 'actuator control' -# are done by the MRS system. - -model_params: - - arm_length: 0.165 # [m] - body_height: 0.07 # [m] - - propulsion: - - # force [N] = force_constant * rpm^2 - force_constant: 0.000000094268 - - # torque [Nm] = torque_constant * force [N] - torque_constant: 0.07 - - prop_radius: 0.09 # [m] - - # allocation motors -> torques - - # quadrotor X configuration - # hexarotor X configuration - # [roll torque, [ [RPM_1^2, - # pitch torque, = Alloc * RPM_2^2, - # yaw torque, Matrix ... - # thrust force] ] RPM_n_motors^2] - allocation_matrix: [ - -0.707, 0.707, 0.707, -0.707, # *= force_constant*arm_length - -0.707, 0.707, -0.707, 0.707, # *= force_constant*arm_length - -1, -1, 1, 1, # *= moment_constant*force_constant - 1, 1, 1, 1, # *= force_constant - ] - - rpm: - min: 1459 # [revolutions/minute] - max: 9722 # [revolutions/minute] diff --git a/config/old/simulation/f330/trackers.yaml b/config/old/simulation/f330/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f330/uav_manager.yaml b/config/old/simulation/f330/uav_manager.yaml deleted file mode 100644 index 1dad9fd9..00000000 --- a/config/old/simulation/f330/uav_manager.yaml +++ /dev/null @@ -1,17 +0,0 @@ -takeoff: - - during_takeoff: - tracker: "LandoffTracker" - controller: "MpcController" - - after_takeoff: - tracker: "MpcTracker" - controller: "Se3Controller" - - pirouette: false - - takeoff_height: 1.5 - -landing: - - disarm: false diff --git a/config/old/simulation/f450/constraint_manager/constraint_manager.yaml b/config/old/simulation/f450/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f450/constraint_manager/constraints.yaml b/config/old/simulation/f450/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f450/control_manager.yaml b/config/old/simulation/f450/control_manager.yaml deleted file mode 100644 index 9ecef7c8..00000000 --- a/config/old/simulation/f450/control_manager.yaml +++ /dev/null @@ -1,27 +0,0 @@ -# - list of names of dynamically loaded trackers -trackers : [ - "MpcTracker", - "LineTracker", - "LandoffTracker", - "JoyTracker", - "SpeedTracker", - "FlipTracker", - "NullTracker", - "MidairActivationTracker", -] - -# - list of names of dynamically loaded controllers -controllers : [ - "Se3Controller", - "MpcController", - "FailsafeController", - "EmergencyController", - "MidairActivationController", -] - -safety: - - min_thrust_null_tracker: 0.15 # [] minimum thrust when not flying - - # when the active tracker returns empty command - tracker_error_action: "ehover" # {eland, ehover} diff --git a/config/old/simulation/f450/controllers.yaml b/config/old/simulation/f450/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f450/gain_manager/gain_manager.yaml b/config/old/simulation/f450/gain_manager/gain_manager.yaml deleted file mode 100644 index 3d3921b9..00000000 --- a/config/old/simulation/f450/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,32 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - gps_garmin: ["supersoft", 'soft', 'tight'] - gps_baro: ["supersoft", 'soft', 'tight'] - rtk: ["supersoft", 'soft', 'tight'] - aloam: ["soft"] - vio: ["supersoft", "soft", "tight"] - hector_garmin: ["soft"] - optflow: ["supersoft", "soft"] - ground_truth: ["supersoft", 'soft', 'tight'] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - gps_garmin: "soft" - gps_baro: "soft" - rtk: "soft" - aloam: "soft" - vio: "supersoft" - hector_garmin: "soft" - optflow: "supersoft" - ground_truth: "soft" - other: "supersoft" diff --git a/config/old/simulation/f450/gain_manager/gains.yaml b/config/old/simulation/f450/gain_manager/gains.yaml deleted file mode 100644 index c4f4b24b..00000000 --- a/config/old/simulation/f450/gain_manager/gains.yaml +++ /dev/null @@ -1,83 +0,0 @@ -supersoft: - - horizontal: - kp: 4.0 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 6.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 8.0 - kv: 6.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/simulation/f450/mass.yaml b/config/old/simulation/f450/mass.yaml deleted file mode 100644 index 42e23a8c..00000000 --- a/config/old/simulation/f450/mass.yaml +++ /dev/null @@ -1 +0,0 @@ -uav_mass: 1.70 # [kg] diff --git a/config/old/simulation/f450/model_params.yaml b/config/old/simulation/f450/model_params.yaml deleted file mode 100644 index 3a564925..00000000 --- a/config/old/simulation/f450/model_params.yaml +++ /dev/null @@ -1,42 +0,0 @@ -## -------------------------------------------------------------- -## | Detailed model description # -## -------------------------------------------------------------- - -# these model parameters can be used when -# - 'attitude rate', and/or -# - 'actuator control' -# are done by the MRS system. - -model_params: - - arm_length: 0.225 # [m] - body_height: 0.1 # [m] - - propulsion: - - # force [N] = force_constant * rpm^2 - force_constant: 0.00000012216 - - # torque [Nm] = torque_constant * force [N] - torque_constant: 0.07 - - prop_radius: 0.11 # [m] - - # allocation motors -> torques - - # quadrotor X configuration - # hexarotor X configuration - # [roll torque, [ [RPM_1^2, - # pitch torque, = Alloc * RPM_2^2, - # yaw torque, Matrix ... - # thrust force] ] RPM_n_motors^2] - allocation_matrix: [ - -0.707, 0.707, 0.707, -0.707, # *= force_constant*arm_length - -0.707, 0.707, -0.707, 0.707, # *= force_constant*arm_length - -1, -1, 1, 1, # *= moment_constant*force_constant - 1, 1, 1, 1, # *= force_constant - ] - - rpm: - min: 1360 # [revolutions/minute] - max: 9068 # [revolutions/minute] diff --git a/config/old/simulation/f450/trackers.yaml b/config/old/simulation/f450/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f450/uav_manager.yaml b/config/old/simulation/f450/uav_manager.yaml deleted file mode 100644 index 1dad9fd9..00000000 --- a/config/old/simulation/f450/uav_manager.yaml +++ /dev/null @@ -1,17 +0,0 @@ -takeoff: - - during_takeoff: - tracker: "LandoffTracker" - controller: "MpcController" - - after_takeoff: - tracker: "MpcTracker" - controller: "Se3Controller" - - pirouette: false - - takeoff_height: 1.5 - -landing: - - disarm: false diff --git a/config/old/simulation/f550/constraint_manager/constraint_manager.yaml b/config/old/simulation/f550/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f550/constraint_manager/constraints.yaml b/config/old/simulation/f550/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f550/control_manager.yaml b/config/old/simulation/f550/control_manager.yaml deleted file mode 100644 index 9ecef7c8..00000000 --- a/config/old/simulation/f550/control_manager.yaml +++ /dev/null @@ -1,27 +0,0 @@ -# - list of names of dynamically loaded trackers -trackers : [ - "MpcTracker", - "LineTracker", - "LandoffTracker", - "JoyTracker", - "SpeedTracker", - "FlipTracker", - "NullTracker", - "MidairActivationTracker", -] - -# - list of names of dynamically loaded controllers -controllers : [ - "Se3Controller", - "MpcController", - "FailsafeController", - "EmergencyController", - "MidairActivationController", -] - -safety: - - min_thrust_null_tracker: 0.15 # [] minimum thrust when not flying - - # when the active tracker returns empty command - tracker_error_action: "ehover" # {eland, ehover} diff --git a/config/old/simulation/f550/controllers.yaml b/config/old/simulation/f550/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f550/gain_manager/gain_manager.yaml b/config/old/simulation/f550/gain_manager/gain_manager.yaml deleted file mode 100644 index 409eea11..00000000 --- a/config/old/simulation/f550/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,32 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - ground_truth: ["supersoft", 'soft', 'tight'] - gps_garmin: ["supersoft", 'soft', 'tight'] - gps_baro: ["supersoft", 'soft', 'tight'] - rtk: ["supersoft", "soft", "tight"] - aloam: ["soft"] - hector_garmin: ["soft"] - vio: ["soft"] - optflow: ["supersoft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - ground_truth: "tight" - gps_garmin: "soft" - gps_baro: "soft" - rtk: "soft" - aloam: "soft" - hector_garmin: "soft" - vio: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/simulation/f550/gain_manager/gains.yaml b/config/old/simulation/f550/gain_manager/gains.yaml deleted file mode 100644 index 3608baaf..00000000 --- a/config/old/simulation/f550/gain_manager/gains.yaml +++ /dev/null @@ -1,83 +0,0 @@ -supersoft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 6.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 8.0 - kv: 6.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/simulation/f550/mass.yaml b/config/old/simulation/f550/mass.yaml deleted file mode 100644 index 6bd2a7c4..00000000 --- a/config/old/simulation/f550/mass.yaml +++ /dev/null @@ -1 +0,0 @@ -uav_mass: 2.30 # [kg] diff --git a/config/old/simulation/f550/model_params.yaml b/config/old/simulation/f550/model_params.yaml deleted file mode 100644 index 0a1c96c1..00000000 --- a/config/old/simulation/f550/model_params.yaml +++ /dev/null @@ -1,42 +0,0 @@ -## -------------------------------------------------------------- -## | Detailed model description # -## -------------------------------------------------------------- - -# these model parameters can be used when -# - 'attitude rate', and/or -# - 'actuator control' -# are done by the MRS system. - -model_params: - - arm_length: 0.27 # [m] - body_height: 0.1 # [m] - - propulsion: - - # force [N] = force_constant * rpm^2 - force_constant: 0.00000012216 - - # torque [Nm] = torque_constant * force [N] - torque_constant: 0.07 - - prop_radius: 0.11 # [m] - - # allocation motors -> torques - - # quadrotor X configuration - # hexarotor X configuration - # [roll torque, [ [RPM_1^2, - # pitch torque, = Alloc * RPM_2^2, - # yaw torque, Matrix ... - # thrust force] ] RPM_n_motors^2] - allocation_matrix: [ - 1, -1, -0.5, 0.5, 0.5, -0.5, # *= force_constant*arm_length - 0, 0, -0.87, 0.87, -0.87, 0.87, # *= force_constant*arm_length - 1, -1, 1, -1, -1, 1, # *= torque_constant*force_constant - 1, 1, 1, 1, 1, 1 # *= force_constant - ] - - rpm: - min: 1360 # [revolutions/minute] - max: 9068 # [revolutions/minute] diff --git a/config/old/simulation/f550/trackers.yaml b/config/old/simulation/f550/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/f550/uav_manager.yaml b/config/old/simulation/f550/uav_manager.yaml deleted file mode 100644 index 1dad9fd9..00000000 --- a/config/old/simulation/f550/uav_manager.yaml +++ /dev/null @@ -1,17 +0,0 @@ -takeoff: - - during_takeoff: - tracker: "LandoffTracker" - controller: "MpcController" - - after_takeoff: - tracker: "MpcTracker" - controller: "Se3Controller" - - pirouette: false - - takeoff_height: 1.5 - -landing: - - disarm: false diff --git a/config/old/simulation/m600/constraint_manager/constraint_manager.yaml b/config/old/simulation/m600/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/m600/constraint_manager/constraints.yaml b/config/old/simulation/m600/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/m600/control_manager.yaml b/config/old/simulation/m600/control_manager.yaml deleted file mode 100644 index 9ecef7c8..00000000 --- a/config/old/simulation/m600/control_manager.yaml +++ /dev/null @@ -1,27 +0,0 @@ -# - list of names of dynamically loaded trackers -trackers : [ - "MpcTracker", - "LineTracker", - "LandoffTracker", - "JoyTracker", - "SpeedTracker", - "FlipTracker", - "NullTracker", - "MidairActivationTracker", -] - -# - list of names of dynamically loaded controllers -controllers : [ - "Se3Controller", - "MpcController", - "FailsafeController", - "EmergencyController", - "MidairActivationController", -] - -safety: - - min_thrust_null_tracker: 0.15 # [] minimum thrust when not flying - - # when the active tracker returns empty command - tracker_error_action: "ehover" # {eland, ehover} diff --git a/config/old/simulation/m600/controllers.yaml b/config/old/simulation/m600/controllers.yaml deleted file mode 100644 index e3d2f8da..00000000 --- a/config/old/simulation/m600/controllers.yaml +++ /dev/null @@ -1,13 +0,0 @@ -Se3Controller: - address: "mrs_uav_controllers/Se3Controller" - namespace: "se3_controller" - eland_threshold: 0.0 # [m], position error triggering eland - failsafe_threshold: 0.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 0.0 # [m], position odometry innovation threshold - -MpcController: - address: "mrs_uav_controllers/MpcController" - namespace: "mpc_controller" - eland_threshold: 0.0 # [m], position error triggering eland - failsafe_threshold: 0.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 0.0 # [m], position odometry innovation threshold diff --git a/config/old/simulation/m600/gain_manager/gain_manager.yaml b/config/old/simulation/m600/gain_manager/gain_manager.yaml deleted file mode 100644 index cadec663..00000000 --- a/config/old/simulation/m600/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,26 +0,0 @@ -gains: [ - "default", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["default"] - aloam: ["default"] - vio: ["default"] - rtk: ["default"] - gps: ["default"] - optflow: ["default"] - other: ["default"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - hector_garmin: "default" - aloam: "default" - vio: "default" - rtk: "default" - gps: "default" - optflow: "default" - other: "default" diff --git a/config/old/simulation/m600/gain_manager/gains.yaml b/config/old/simulation/m600/gain_manager/gains.yaml deleted file mode 100644 index 0a7cecbb..00000000 --- a/config/old/simulation/m600/gain_manager/gains.yaml +++ /dev/null @@ -1,27 +0,0 @@ -default: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 6.0 - - kib: 0.5 - kib_lim: 10.0 - - kiw: 0.5 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 6.0 - - mass_estimator: - km: 1.0 - km_lim: 8.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/simulation/m600/mass.yaml b/config/old/simulation/m600/mass.yaml deleted file mode 100644 index f5eef790..00000000 --- a/config/old/simulation/m600/mass.yaml +++ /dev/null @@ -1 +0,0 @@ -uav_mass: 10.00 # [kg] diff --git a/config/old/simulation/m600/trackers.yaml b/config/old/simulation/m600/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/m600/uav_manager.yaml b/config/old/simulation/m600/uav_manager.yaml deleted file mode 100644 index 1dad9fd9..00000000 --- a/config/old/simulation/m600/uav_manager.yaml +++ /dev/null @@ -1,17 +0,0 @@ -takeoff: - - during_takeoff: - tracker: "LandoffTracker" - controller: "MpcController" - - after_takeoff: - tracker: "MpcTracker" - controller: "Se3Controller" - - pirouette: false - - takeoff_height: 1.5 - -landing: - - disarm: false diff --git a/config/old/simulation/naki/constraint_manager/constraint_manager.yaml b/config/old/simulation/naki/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/naki/constraint_manager/constraints.yaml b/config/old/simulation/naki/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/naki/control_manager.yaml b/config/old/simulation/naki/control_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/naki/controllers.yaml b/config/old/simulation/naki/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/naki/gain_manager/gain_manager.yaml b/config/old/simulation/naki/gain_manager/gain_manager.yaml deleted file mode 100644 index af4209ea..00000000 --- a/config/old/simulation/naki/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,31 +0,0 @@ -gains: [ - "supersoft", - "soft", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - ground_truth: ["supersoft", 'soft'] - gps_garmin: ["supersoft", 'soft'] - gps_baro: ["supersoft", 'soft'] - rtk: ["supersoft", 'soft'] - aloam: ["soft"] - vio: ["supersoft"] - hector_garmin: ["soft"] - optflow: ["supersoft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - ground_truth: "soft" - gps_garmin: "supersoft" - gps_baro: "supersoft" - rtk: "supersoft" - aloam: "soft" - vio: "supersoft" - hector_garmin: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/simulation/naki/gain_manager/gains.yaml b/config/old/simulation/naki/gain_manager/gains.yaml deleted file mode 100644 index c352252e..00000000 --- a/config/old/simulation/naki/gain_manager/gains.yaml +++ /dev/null @@ -1,55 +0,0 @@ -supersoft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.3 - kib_lim: 10.0 - - kiw: 0.3 - kiw_lim: 10.0 - - vertical: - kp: 5.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 0.5 - km_lim: 7.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 6.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 0.5 - km_lim: 7.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/simulation/naki/mass.yaml b/config/old/simulation/naki/mass.yaml deleted file mode 100644 index 652116bd..00000000 --- a/config/old/simulation/naki/mass.yaml +++ /dev/null @@ -1 +0,0 @@ -uav_mass: 7.50 # [kg] diff --git a/config/old/simulation/naki/model_params.yaml b/config/old/simulation/naki/model_params.yaml deleted file mode 100644 index 01266661..00000000 --- a/config/old/simulation/naki/model_params.yaml +++ /dev/null @@ -1,42 +0,0 @@ -## -------------------------------------------------------------- -## | Detailed model description # -## -------------------------------------------------------------- - -# these model parameters can be used when -# - 'attitude rate', and/or -# - 'actuator control' -# are done by the MRS system. - -model_params: - - arm_length: 0.20 # [m] - body_height: 0.2 # [m] - - propulsion: - - # force [N] = force_constant * rpm^2 - force_constant: 0.00000057658 - - # torque [Nm] = torque_constant * force [N] - torque_constant: 0.07 - - prop_radius: 0.13 # [m] - - # allocation motors -> torques - - # quadrotor X configuration - # hexarotor X configuration - # [roll torque, [ [RPM_1^2, - # pitch torque, = Alloc * RPM_2^2, - # yaw torque, Matrix ... - # thrust force] ] RPM_n_motors^2] - allocation_matrix: [ - -0.707, 0.707, 0.707, -0.707, 0.707, -0.707, -0.707, 0.707, # *= force_constant*arm_length - -0.707, 0.707, -0.707, 0.707, 0.707, -0.707, 0.707, -0.707, # *= force_constant*arm_length - -1, -1, 1, 1, 1, 1, -1, -1, # *= moment_constant*force_constant - 1, 1, 1, 1, 1, 1, 1, 1, # *= force_constant - ] - - rpm: - min: 956 # [revolutions/minute] - max: 6376 # [revolutions/minute] diff --git a/config/old/simulation/naki/trackers.yaml b/config/old/simulation/naki/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/naki/uav_manager.yaml b/config/old/simulation/naki/uav_manager.yaml deleted file mode 100644 index e27d2c63..00000000 --- a/config/old/simulation/naki/uav_manager.yaml +++ /dev/null @@ -1,26 +0,0 @@ -# periodically checks if max height was exceeded -# if so, retakes control and descends below it -max_height_checking: - - enabled: false - safety_height_offset: 0.25 # how much lower to descend below the max height - -# periodically checks if min height was exceeded -# if so, retakes control and ascends above it -min_height_checking: - - enabled: false - min_height: 1.5 # [m] - safety_height_offset: 0.25 # how much higher to ascend above the min height - -takeoff: - - during_takeoff: - controller: "MpcController" - tracker: "LandoffTracker" - - after_takeoff: - controller: "Se3Controller" - tracker: "MpcTracker" - - takeoff_height: 1.5 diff --git a/config/old/simulation/t650/constraint_manager/constraint_manager.yaml b/config/old/simulation/t650/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/t650/constraint_manager/constraints.yaml b/config/old/simulation/t650/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/t650/control_manager.yaml b/config/old/simulation/t650/control_manager.yaml deleted file mode 100644 index 9ecef7c8..00000000 --- a/config/old/simulation/t650/control_manager.yaml +++ /dev/null @@ -1,27 +0,0 @@ -# - list of names of dynamically loaded trackers -trackers : [ - "MpcTracker", - "LineTracker", - "LandoffTracker", - "JoyTracker", - "SpeedTracker", - "FlipTracker", - "NullTracker", - "MidairActivationTracker", -] - -# - list of names of dynamically loaded controllers -controllers : [ - "Se3Controller", - "MpcController", - "FailsafeController", - "EmergencyController", - "MidairActivationController", -] - -safety: - - min_thrust_null_tracker: 0.15 # [] minimum thrust when not flying - - # when the active tracker returns empty command - tracker_error_action: "ehover" # {eland, ehover} diff --git a/config/old/simulation/t650/controllers.yaml b/config/old/simulation/t650/controllers.yaml deleted file mode 100644 index e129e2db..00000000 --- a/config/old/simulation/t650/controllers.yaml +++ /dev/null @@ -1,6 +0,0 @@ -Se3Controller: - address: "mrs_uav_controllers/Se3Controller" - namespace: "se3_controller" - eland_threshold: 3.0 # [m], position error triggering eland - failsafe_threshold: 6.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 2.0 # [m], position odometry innovation threshold diff --git a/config/old/simulation/t650/gain_manager/gain_manager.yaml b/config/old/simulation/t650/gain_manager/gain_manager.yaml deleted file mode 100644 index 6da5061a..00000000 --- a/config/old/simulation/t650/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,32 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - ground_truth: ["supersoft", 'soft', 'tight'] - gps_garmin: ["supersoft", 'soft', 'tight'] - gps_baro: ["supersoft", 'soft', 'tight'] - rtk: ["supersoft", 'soft', 'tight'] - aloam: ["soft"] - vio: ["supersoft","soft"] - hector_garmin: ["soft"] - optflow: ["supersoft", "soft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - ground_truth: "tight" - gps_garmin: "soft" - gps_baro: "soft" - rtk: "soft" - aloam: "soft" - vio: "supersoft" - hector_garmin: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/simulation/t650/gain_manager/gains.yaml b/config/old/simulation/t650/gain_manager/gains.yaml deleted file mode 100644 index 49629d9c..00000000 --- a/config/old/simulation/t650/gain_manager/gains.yaml +++ /dev/null @@ -1,83 +0,0 @@ -supersoft: - - horizontal: - kp: 3.0 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.5 - kib_lim: 10.0 - - kiw: 0.5 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 2.0 - - mass_estimator: - km: 1.0 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 2.0 - - mass_estimator: - km: 1.0 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 6.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 1.0 - kib_lim: 10.0 - - kiw: 1.0 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 2.0 - - mass_estimator: - km: 1.0 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/simulation/t650/mass.yaml b/config/old/simulation/t650/mass.yaml deleted file mode 100644 index 5ce2e295..00000000 --- a/config/old/simulation/t650/mass.yaml +++ /dev/null @@ -1 +0,0 @@ -uav_mass: 3.50 # [kg] diff --git a/config/old/simulation/t650/model_params.yaml b/config/old/simulation/t650/model_params.yaml deleted file mode 100644 index f63a0694..00000000 --- a/config/old/simulation/t650/model_params.yaml +++ /dev/null @@ -1,42 +0,0 @@ -## -------------------------------------------------------------- -## | Detailed model description # -## -------------------------------------------------------------- - -# these model parameters can be used when -# - 'attitude rate', and/or -# - 'actuator control' -# are done by the MRS system. - -model_params: - - arm_length: 0.325 # [m] - body_height: 0.15 # [m] - - propulsion: - - # force [N] = force_constant * rpm^2 - force_constant: 0.00000073385 - - # torque [Nm] = torque_constant * force [N] - torque_constant: 0.07 - - prop_radius: 0.19 # [m] - - # allocation motors -> torques - - # quadrotor X configuration - # hexarotor X configuration - # [roll torque, [ [RPM_1^2, - # pitch torque, = Alloc * RPM_2^2, - # yaw torque, Matrix ... - # thrust force] ] RPM_n_motors^2] - allocation_matrix: [ - -0.707, 0.707, 0.707, -0.707, # *= force_constant*arm_length - -0.707, 0.707, -0.707, 0.707, # *= force_constant*arm_length - -1, -1, 1, 1, # *= torque_constant*force_constant - 1, 1, 1, 1, # *= force_constant - ] - - rpm: - min: 875 # [revolutions/minute] - max: 5832 # [revolutions/minute] diff --git a/config/old/simulation/t650/trackers.yaml b/config/old/simulation/t650/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/t650/uav_manager.yaml b/config/old/simulation/t650/uav_manager.yaml deleted file mode 100644 index 1dad9fd9..00000000 --- a/config/old/simulation/t650/uav_manager.yaml +++ /dev/null @@ -1,17 +0,0 @@ -takeoff: - - during_takeoff: - tracker: "LandoffTracker" - controller: "MpcController" - - after_takeoff: - tracker: "MpcTracker" - controller: "Se3Controller" - - pirouette: false - - takeoff_height: 1.5 - -landing: - - disarm: false diff --git a/config/old/simulation/x500/constraint_manager/constraint_manager.yaml b/config/old/simulation/x500/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/x500/constraint_manager/constraints.yaml b/config/old/simulation/x500/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/x500/control_manager.yaml b/config/old/simulation/x500/control_manager.yaml deleted file mode 100644 index 9ecef7c8..00000000 --- a/config/old/simulation/x500/control_manager.yaml +++ /dev/null @@ -1,27 +0,0 @@ -# - list of names of dynamically loaded trackers -trackers : [ - "MpcTracker", - "LineTracker", - "LandoffTracker", - "JoyTracker", - "SpeedTracker", - "FlipTracker", - "NullTracker", - "MidairActivationTracker", -] - -# - list of names of dynamically loaded controllers -controllers : [ - "Se3Controller", - "MpcController", - "FailsafeController", - "EmergencyController", - "MidairActivationController", -] - -safety: - - min_thrust_null_tracker: 0.15 # [] minimum thrust when not flying - - # when the active tracker returns empty command - tracker_error_action: "ehover" # {eland, ehover} diff --git a/config/old/simulation/x500/controllers.yaml b/config/old/simulation/x500/controllers.yaml deleted file mode 100644 index e129e2db..00000000 --- a/config/old/simulation/x500/controllers.yaml +++ /dev/null @@ -1,6 +0,0 @@ -Se3Controller: - address: "mrs_uav_controllers/Se3Controller" - namespace: "se3_controller" - eland_threshold: 3.0 # [m], position error triggering eland - failsafe_threshold: 6.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 2.0 # [m], position odometry innovation threshold diff --git a/config/old/simulation/x500/gain_manager/gain_manager.yaml b/config/old/simulation/x500/gain_manager/gain_manager.yaml deleted file mode 100644 index 2e04b69f..00000000 --- a/config/old/simulation/x500/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,32 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - gps_garmin: ["supersoft", 'soft', 'tight'] - gps_baro: ["supersoft", 'soft', 'tight'] - rtk: ["supersoft", 'soft', 'tight'] - aloam: ["soft"] - vio: ["supersoft","soft"] - hector_garmin: ["soft"] - optflow: ["supersoft", "soft"] - other: ["supersoft"] - ground_truth: ["supersoft", 'soft', 'tight'] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - gps_garmin: "soft" - gps_baro: "soft" - rtk: "soft" - aloam: "soft" - vio: "supersoft" - hector_garmin: "soft" - optflow: "supersoft" - other: "supersoft" - ground_truth: "soft" diff --git a/config/old/simulation/x500/gain_manager/gains.yaml b/config/old/simulation/x500/gain_manager/gains.yaml deleted file mode 100644 index 49629d9c..00000000 --- a/config/old/simulation/x500/gain_manager/gains.yaml +++ /dev/null @@ -1,83 +0,0 @@ -supersoft: - - horizontal: - kp: 3.0 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.5 - kib_lim: 10.0 - - kiw: 0.5 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 2.0 - - mass_estimator: - km: 1.0 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 2.0 - - mass_estimator: - km: 1.0 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 6.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 1.0 - kib_lim: 10.0 - - kiw: 1.0 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 2.0 - - mass_estimator: - km: 1.0 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/simulation/x500/mass.yaml b/config/old/simulation/x500/mass.yaml deleted file mode 100644 index a1639605..00000000 --- a/config/old/simulation/x500/mass.yaml +++ /dev/null @@ -1 +0,0 @@ -uav_mass: 2.00 # [kg] diff --git a/config/old/simulation/x500/model_params.yaml b/config/old/simulation/x500/model_params.yaml deleted file mode 100644 index 906a5223..00000000 --- a/config/old/simulation/x500/model_params.yaml +++ /dev/null @@ -1,42 +0,0 @@ -## -------------------------------------------------------------- -## | Detailed model description # -## -------------------------------------------------------------- - -# these model parameters can be used when -# - 'attitude rate', and/or -# - 'actuator control' -# are done by the MRS system. - -model_params: - - arm_length: 0.25 # [m] - body_height: 0.1 # [m] - - propulsion: - - # force [N] = force_constant * rpm^2 - force_constant: 0.00000027087 - - # torque [Nm] = torque_constant * force [N] - torque_constant: 0.07 - - prop_radius: 0.15 # [m] - - # allocation motors -> torques - - # quadrotor X configuration - # hexarotor X configuration - # [roll torque, [ [RPM_1^2, - # pitch torque, = Alloc * RPM_2^2, - # yaw torque, Matrix ... - # thrust force] ] RPM_n_motors^2] - allocation_matrix: [ - -0.707, 0.707, 0.707, -0.707, # *= force_constant*arm_length - -0.707, 0.707, -0.707, 0.707, # *= force_constant*arm_length - -1, -1, 1, 1, # *= torque_constant*force_constant - 1, 1, 1, 1, # *= force_constant - ] - - rpm: - min: 1170 # [revolutions/minute] - max: 7800 # [revolutions/minute] diff --git a/config/old/simulation/x500/trackers.yaml b/config/old/simulation/x500/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/simulation/x500/uav_manager.yaml b/config/old/simulation/x500/uav_manager.yaml deleted file mode 100644 index 1dad9fd9..00000000 --- a/config/old/simulation/x500/uav_manager.yaml +++ /dev/null @@ -1,17 +0,0 @@ -takeoff: - - during_takeoff: - tracker: "LandoffTracker" - controller: "MpcController" - - after_takeoff: - tracker: "MpcTracker" - controller: "Se3Controller" - - pirouette: false - - takeoff_height: 1.5 - -landing: - - disarm: false diff --git a/config/old/simulation/x500/uav_mass.yaml b/config/old/simulation/x500/uav_mass.yaml deleted file mode 100644 index 091b8ed0..00000000 --- a/config/old/simulation/x500/uav_mass.yaml +++ /dev/null @@ -1,2 +0,0 @@ -# the mass should be as close as possible to the real UAV -uav_mass: 2.00 # [kg] diff --git a/config/old/uav/brus/constraint_manager/constraint_manager.yaml b/config/old/uav/brus/constraint_manager/constraint_manager.yaml deleted file mode 100644 index 78e60174..00000000 --- a/config/old/uav/brus/constraint_manager/constraint_manager.yaml +++ /dev/null @@ -1,12 +0,0 @@ -constraint_management: - - # list of allowed gains per odometry mode - allowed_constraints: - gps_garmin: ["slow", "medium", "fast"] - gps_baro: ["slow", "medium", "fast"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_constraints: - gps_garmin: "medium" - gps_baro: "medium" diff --git a/config/old/uav/brus/constraint_manager/constraints.yaml b/config/old/uav/brus/constraint_manager/constraints.yaml deleted file mode 100644 index d854d239..00000000 --- a/config/old/uav/brus/constraint_manager/constraints.yaml +++ /dev/null @@ -1,27 +0,0 @@ -fast: - - horizontal: - speed: 8.0 - acceleration: 3.0 - jerk: 10.0 - snap: 20.0 - - vertical: - - ascending: - speed: 4.0 - acceleration: 3.0 - jerk: 10.0 - snap: 20.0 - - descending: - speed: 4.0 - acceleration: 3.0 - jerk: 10.0 - snap: 20.0 - - heading: - speed: 1.0 - acceleration: 2.0 - jerk: 10.0 - snap: 10.0 diff --git a/config/old/uav/brus/control_manager.yaml b/config/old/uav/brus/control_manager.yaml deleted file mode 100644 index 7144e245..00000000 --- a/config/old/uav/brus/control_manager.yaml +++ /dev/null @@ -1,74 +0,0 @@ -#- list of names of dynamically loaded trackers -trackers : [ - "MpcTracker", - "LandoffTracker", - "JoyTracker", - "NullTracker", - "SpeedTracker", - "MidairActivationTracker", -] - -#- list of names of dynamically loaded controllers -controllers : [ - "Se3Controller", - "MpcController", - "FailsafeController", - "EmergencyController", - "MidairActivationController", -] - -safety: - - tilt_limit: - - eland: - enabled: true - limit: deg(75) # [rad] - - disarm: - enabled: false - limit: deg(90) # [rad] - - tilt_error_disarm: - enabled: false - error_threshold: deg(45) # [rad] - - yaw_error_eland: - enabled: true - limit: deg(90) # [rad] - - # after not receiving odometry for more than this, the failsafe landing will trigger - odometry_max_missing_time: 0.2 # [s] - - escalating_failsafe: - - service: - enabled: true # can be called by a service - - rc: - enabled: false # can be triggered by RC button - channel_number: 7 # [-], activation RC channel - threshold: 1500 # [us] - - ehover: true - eland: true - failsafe: false - - # when the active tracker returns empty command - tracker_error_action: "ehover" # {eland, ehover} - -rc_joystick: - - enabled: false - # activation channel - channel_number: 6 # indexed from 0 - - horizontal_speed: 2.00 # [m/s] - vertical_speed: 1.00 # [m/s] - heading_rate: 0.20 # [rad/s] - - channels: - pitch: 2 - roll: 0 - heading: 3 - thrust: 1 diff --git a/config/old/uav/brus/controllers.yaml b/config/old/uav/brus/controllers.yaml deleted file mode 100644 index 9d1a09fc..00000000 --- a/config/old/uav/brus/controllers.yaml +++ /dev/null @@ -1,13 +0,0 @@ -Se3Controller: - address: "mrs_uav_controllers/Se3Controller" - namespace: "se3_controller" - eland_threshold: 5.0 # [m], position error triggering eland - failsafe_threshold: 10.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 4.0 # [m], position odometry innovation threshold - -EmergencyController: - address: "mrs_uav_controllers/MpcController" - namespace: "emergency_controller" - eland_threshold: 5.0 # [m], position error triggering eland - failsafe_threshold: 10.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 3.0 # [m], position odometry innovation threshold diff --git a/config/old/uav/brus/gain_manager/gain_manager.yaml b/config/old/uav/brus/gain_manager/gain_manager.yaml deleted file mode 100644 index ff7ff67f..00000000 --- a/config/old/uav/brus/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,29 +0,0 @@ -gains: [ - "supersoft", - "soft", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["supersoft"] - aloam: ["supersoft"] - vio: ["supersoft"] - rtk: ["supersoft", "soft"] - gps_garmin: ["supersoft", "soft"] - gps_baro: ["supersoft", "soft"] - optflow: ["supersoft", "soft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - hector_garmin: "supersoft" - aloam: "supersoft" - vio: "supersoft" - rtk: "supersoft" - gps_garmin: "supersoft" - gps_baro: "supersoft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/uav/brus/gain_manager/gains.yaml b/config/old/uav/brus/gain_manager/gains.yaml deleted file mode 100644 index de42161c..00000000 --- a/config/old/uav/brus/gain_manager/gains.yaml +++ /dev/null @@ -1,55 +0,0 @@ -supersoft: - - horizontal: - kp: 3.0 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.3 - kib_lim: 10.0 - - kiw: 0.3 - kiw_lim: 10.0 - - vertical: - kp: 5.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 1.0 - - mass_estimator: - km: 1.0 - km_lim: 20.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 1.0 - - mass_estimator: - km: 1.0 - km_lim: 20.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/brus/trackers.yaml b/config/old/uav/brus/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/brus/uav_manager.yaml b/config/old/uav/brus/uav_manager.yaml deleted file mode 100644 index 812cd017..00000000 --- a/config/old/uav/brus/uav_manager.yaml +++ /dev/null @@ -1,35 +0,0 @@ -# periodically checks if max height was exceeded -# if so, retakes control and descends below it -max_height_checking: - - enabled: false - -# periodically checks if min height was exceeded -# if so, retakes control and ascends above it -min_height_checking: - - enabled: false - min_height: 3.0 # [m] - -takeoff: - - during_takeoff: - controller: "MpcController" - tracker: "LandoffTracker" - - after_takeoff: - controller: "Se3Controller" - tracker: "MpcTracker" - - takeoff_height: 2.5 - -landing: - - landing_tracker: "LandoffTracker" - landing_controller: "MpcController" - -midair_activation: - - after_activation: - controller: "Se3Controller" - tracker: "MpcTracker" diff --git a/config/old/uav/dofec/constraint_manager/constraint_manager.yaml b/config/old/uav/dofec/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/dofec/constraint_manager/constraints.yaml b/config/old/uav/dofec/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/dofec/control_manager.yaml b/config/old/uav/dofec/control_manager.yaml deleted file mode 100644 index 993f2144..00000000 --- a/config/old/uav/dofec/control_manager.yaml +++ /dev/null @@ -1,5 +0,0 @@ -rc_joystick: - - horizontal_speed: 2.00 # [m/s] - vertical_speed: 2.00 # [m/s] - heading_rate: 1.00 # [rad/s] diff --git a/config/old/uav/dofec/controllers.yaml b/config/old/uav/dofec/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/dofec/gain_manager/gain_manager.yaml b/config/old/uav/dofec/gain_manager/gain_manager.yaml deleted file mode 100644 index 902f8ab9..00000000 --- a/config/old/uav/dofec/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,29 +0,0 @@ -gains: [ - "supersoft", - "soft", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["soft"] - aloam: ["soft"] - vio: ["supersoft"] - rtk: ["supersoft"] - gps_garmin: ["supersoft", "soft"] - gps_baro: ["supersoft", "soft"] - optflow: ["supersoft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - hector_garmin: "soft" - aloam: "soft" - vio: "supersoft" - rtk: "supersoft" - gps_garmin: "supersoft" - gps_baro: "supersoft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/uav/dofec/gain_manager/gains.yaml b/config/old/uav/dofec/gain_manager/gains.yaml deleted file mode 100644 index c352252e..00000000 --- a/config/old/uav/dofec/gain_manager/gains.yaml +++ /dev/null @@ -1,55 +0,0 @@ -supersoft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.3 - kib_lim: 10.0 - - kiw: 0.3 - kiw_lim: 10.0 - - vertical: - kp: 5.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 0.5 - km_lim: 7.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 6.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 0.5 - km_lim: 7.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/dofec/trackers.yaml b/config/old/uav/dofec/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/dofec/uav_manager.yaml b/config/old/uav/dofec/uav_manager.yaml deleted file mode 100644 index 3580ca97..00000000 --- a/config/old/uav/dofec/uav_manager.yaml +++ /dev/null @@ -1,7 +0,0 @@ -takeoff: - - takeoff_height: 2.0 - - after_takeoff: - - controller: "Se3Controller" diff --git a/config/old/uav/eagle/constraint_manager/constraint_manager.yaml b/config/old/uav/eagle/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/eagle/constraint_manager/constraints.yaml b/config/old/uav/eagle/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/eagle/control_manager.yaml b/config/old/uav/eagle/control_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/eagle/controllers.yaml b/config/old/uav/eagle/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/eagle/gain_manager/gain_manager.yaml b/config/old/uav/eagle/gain_manager/gain_manager.yaml deleted file mode 100644 index c5806dd6..00000000 --- a/config/old/uav/eagle/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,30 +0,0 @@ -gains: [ - "supersoft", - "soft", -] - - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["soft"] - aloam: ["soft"] - vio: ["supersoft"] - rtk: ["supersoft"] - gps_garmin: ["supersoft", "soft"] - gps_baro: ["supersoft", "soft"] - optflow: ["supersoft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - hector_garmin: "soft" - aloam: "soft" - vio: "supersoft" - rtk: "supersoft" - gps_garmin: "soft" - gps_baro: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/uav/eagle/gain_manager/gains.yaml b/config/old/uav/eagle/gain_manager/gains.yaml deleted file mode 100644 index dd5e2a92..00000000 --- a/config/old/uav/eagle/gain_manager/gains.yaml +++ /dev/null @@ -1,55 +0,0 @@ -supersoft: - - horizontal: - kp: 2.00 - kv: 1.30 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 6.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 1.0 - km_lim: 10.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 3.5 - kv: 2.3 - ka: 1.0 - - attitude: - kq: 5.5 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 6.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 1.0 - km_lim: 10.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/eagle/trackers.yaml b/config/old/uav/eagle/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/eagle/uav_manager.yaml b/config/old/uav/eagle/uav_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/eaglemk2/constraint_manager/constraint_manager.yaml b/config/old/uav/eaglemk2/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/eaglemk2/constraint_manager/constraints.yaml b/config/old/uav/eaglemk2/constraint_manager/constraints.yaml deleted file mode 100644 index b484b34f..00000000 --- a/config/old/uav/eaglemk2/constraint_manager/constraints.yaml +++ /dev/null @@ -1,27 +0,0 @@ -fast: - - horizontal: - speed: 8.0 - acceleration: 2.5 - jerk: 10.0 - snap: 20.0 - - vertical: - - ascending: - speed: 2.0 - acceleration: 2.0 - jerk: 5.0 - snap: 3.0 - - descending: - speed: 2.0 - acceleration: 2.0 - jerk: 5.0 - snap: 3.0 - - heading: - speed: 1.0 - acceleration: 2.0 - jerk: 10.0 - snap: 10.0 diff --git a/config/old/uav/eaglemk2/control_manager.yaml b/config/old/uav/eaglemk2/control_manager.yaml deleted file mode 100644 index cf9983b9..00000000 --- a/config/old/uav/eaglemk2/control_manager.yaml +++ /dev/null @@ -1,5 +0,0 @@ -rc_joystick: - - horizontal_speed: 2.00 # [m/s] - vertical_speed: 1.00 # [m/s] - heading_rate: 0.20 # [rad/s] diff --git a/config/old/uav/eaglemk2/controllers.yaml b/config/old/uav/eaglemk2/controllers.yaml deleted file mode 100644 index 72cbe1ee..00000000 --- a/config/old/uav/eaglemk2/controllers.yaml +++ /dev/null @@ -1,13 +0,0 @@ -Se3Controller: - address: "mrs_uav_controllers/Se3Controller" - namespace: "se3_controller" - eland_threshold: 3.0 # [m], position error triggering eland - failsafe_threshold: 5.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 2.0 # [m], position odometry innovation threshold - -EmergencyController: - address: "mrs_uav_controllers/MpcController" - namespace: "emergency_controller" - eland_threshold: 5.0 # [m], position error triggering eland - failsafe_threshold: 10.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 3.0 # [m], position odometry innovation threshold diff --git a/config/old/uav/eaglemk2/gain_manager/gain_manager.yaml b/config/old/uav/eaglemk2/gain_manager/gain_manager.yaml deleted file mode 100644 index 6f34bba7..00000000 --- a/config/old/uav/eaglemk2/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,30 +0,0 @@ -gains: [ - "supersoft", - "soft", -] - - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["supersoft"] - aloam: ["supersoft"] - vio: ["supersoft"] - rtk: ["supersoft", "soft"] - gps_garmin: ["supersoft", "soft"] - gps_baro: ["supersoft", "soft"] - optflow: ["supersoft", "soft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - hector_garmin: "supersoft" - aloam: "supersoft" - vio: "supersoft" - rtk: "supersoft" - gps_garmin: "supersoft" - gps_baro: "supersoft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/uav/eaglemk2/gain_manager/gains.yaml b/config/old/uav/eaglemk2/gain_manager/gains.yaml deleted file mode 100644 index aabcc865..00000000 --- a/config/old/uav/eaglemk2/gain_manager/gains.yaml +++ /dev/null @@ -1,55 +0,0 @@ -supersoft: - - horizontal: - kp: 3.0 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 4.0 - - kib: 0.3 - kib_lim: 10.0 - - kiw: 0.3 - kiw_lim: 10.0 - - vertical: - kp: 5.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 8.0 - - mass_estimator: - km: 2.0 - km_lim: 15.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 4.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 8.0 - - mass_estimator: - km: 2.0 - km_lim: 15.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/eaglemk2/trackers.yaml b/config/old/uav/eaglemk2/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/eaglemk2/uav_manager.yaml b/config/old/uav/eaglemk2/uav_manager.yaml deleted file mode 100644 index df58a0e6..00000000 --- a/config/old/uav/eaglemk2/uav_manager.yaml +++ /dev/null @@ -1,15 +0,0 @@ -takeoff: - - during_takeoff: - controller: "MpcController" - tracker: "LandoffTracker" - - after_takeoff: - controller: "Se3Controller" - tracker: "MpcTracker" - - takeoff_height: 2.5 - -landing: - - disarm: true diff --git a/config/old/uav/f330/constraint_manager/constraint_manager.yaml b/config/old/uav/f330/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f330/constraint_manager/constraints.yaml b/config/old/uav/f330/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f330/control_manager.yaml b/config/old/uav/f330/control_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f330/controllers.yaml b/config/old/uav/f330/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f330/gain_manager/gain_manager.yaml b/config/old/uav/f330/gain_manager/gain_manager.yaml deleted file mode 100644 index 0218fb83..00000000 --- a/config/old/uav/f330/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,30 +0,0 @@ -gains: [ - "supersoft", - "soft", -] - - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["supersoft"] - aloam: ["supersoft"] - vio: ["supersoft"] - rtk: ["supersoft"] - gps_garmin: ["supersoft", "soft"] - gps_baro: ["supersoft", "soft"] - optflow: ["supersoft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - hector_garmin: "supersoft" - aloam: "supersoft" - vio: "supersoft" - rtk: "supersoft" - gps_garmin: "soft" - gps_baro: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/uav/f330/gain_manager/gains.yaml b/config/old/uav/f330/gain_manager/gains.yaml deleted file mode 100644 index 58548483..00000000 --- a/config/old/uav/f330/gain_manager/gains.yaml +++ /dev/null @@ -1,55 +0,0 @@ -supersoft: - - horizontal: - kp: 3.2 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 15.0 - kv: 8.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 0.2 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 5.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 15.0 - kv: 8.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 0.2 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/f330/model_params.yaml b/config/old/uav/f330/model_params.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f330/trackers.yaml b/config/old/uav/f330/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f330/uav_manager.yaml b/config/old/uav/f330/uav_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f450/constraint_manager/constraint_manager.yaml b/config/old/uav/f450/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f450/constraint_manager/constraints.yaml b/config/old/uav/f450/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f450/control_manager.yaml b/config/old/uav/f450/control_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f450/controllers.yaml b/config/old/uav/f450/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f450/gain_manager/gain_manager.yaml b/config/old/uav/f450/gain_manager/gain_manager.yaml deleted file mode 100644 index 9a2e00cf..00000000 --- a/config/old/uav/f450/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,33 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight" -] - - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["supersoft"] - aloam: ["supersoft"] - vio: ["supersoft"] - rtk: ["supersoft", "soft", "tight"] - gps_garmin: ["supersoft", "soft", "tight"] - gps_baro: ["supersoft", "soft", "tight"] - optflow: ["supersoft"] - ground_truth: ["supersoft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - hector_garmin: "supersoft" - aloam: "supersoft" - vio: "supersoft" - rtk: "soft" - gps_garmin: "soft" - gps_baro: "soft" - optflow: "supersoft" - ground_truth: "supersoft" - other: "supersoft" diff --git a/config/old/uav/f450/gain_manager/gains.yaml b/config/old/uav/f450/gain_manager/gains.yaml deleted file mode 100644 index 24c0647f..00000000 --- a/config/old/uav/f450/gain_manager/gains.yaml +++ /dev/null @@ -1,83 +0,0 @@ -supersoft: - - horizontal: - kp: 4.0 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 6.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 5.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 6.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 6.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 15.0 - kv: 8.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 8.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 7.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 15.0 - kv: 8.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/f450/trackers.yaml b/config/old/uav/f450/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f450/uav_manager.yaml b/config/old/uav/f450/uav_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f550/constraint_manager/constraint_manager.yaml b/config/old/uav/f550/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f550/constraint_manager/constraints.yaml b/config/old/uav/f550/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f550/control_manager.yaml b/config/old/uav/f550/control_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f550/controllers.yaml b/config/old/uav/f550/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f550/gain_manager/gain_manager.yaml b/config/old/uav/f550/gain_manager/gain_manager.yaml deleted file mode 100644 index 334fbdbe..00000000 --- a/config/old/uav/f550/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,30 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["supersoft"] - aloam: ["supersoft"] - vio: ["supersoft"] - rtk: ["supersoft", "soft", "tight"] - gps_garmin: ["supersoft", "soft", "tight"] - gps_baro: ["supersoft", "soft", "tight"] - optflow: ["supersoft", "soft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - hector_garmin: "supersoft" - aloam: "supersoft" - vio: "supersoft" - rtk: "soft" - gps_garmin: "soft" - gps_baro: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/uav/f550/gain_manager/gains.yaml b/config/old/uav/f550/gain_manager/gains.yaml deleted file mode 100644 index 4faa6b32..00000000 --- a/config/old/uav/f550/gain_manager/gains.yaml +++ /dev/null @@ -1,83 +0,0 @@ -supersoft: - - horizontal: - kp: 2.0 - kv: 1.25 - ka: 1.0 - - attitude: - kq: 8.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.6 - kv: 4.3 - ka: 1.0 - - attitude: - kq: 1.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 2.7 - kv: 1.7 - ka: 1.0 - - attitude: - kq: 8.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.6 - kv: 4.3 - ka: 1.0 - - attitude: - kq: 1.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 3.5 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 8.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 8.6 - kv: 4.3 - ka: 1.0 - - attitude: - kq: 1.0 - - mass_estimator: - km: 1.0 - km_lim: 3.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/f550/trackers.yaml b/config/old/uav/f550/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/f550/uav_manager.yaml b/config/old/uav/f550/uav_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/m690/constraint_manager/constraint_manager.yaml b/config/old/uav/m690/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/m690/constraint_manager/constraints.yaml b/config/old/uav/m690/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/m690/control_manager.yaml b/config/old/uav/m690/control_manager.yaml deleted file mode 100644 index a5dec998..00000000 --- a/config/old/uav/m690/control_manager.yaml +++ /dev/null @@ -1,11 +0,0 @@ -safety: - - parachute: - - enabled: false - -rc_joystick: - - horizontal_speed: 1.00 # [m/s] - vertical_speed: 1.00 # [m/s] - heading_rate: 0.20 # [rad/s] diff --git a/config/old/uav/m690/controllers.yaml b/config/old/uav/m690/controllers.yaml deleted file mode 100644 index 7af90bad..00000000 --- a/config/old/uav/m690/controllers.yaml +++ /dev/null @@ -1,13 +0,0 @@ -Se3Controller: - address: "mrs_uav_controllers/Se3Controller" - namespace: "se3_controller" - eland_threshold: 2.5 # [m], position error triggering eland - failsafe_threshold: 5.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 2.0 # [m], position odometry innovation threshold - -EmergencyController: - address: "mrs_uav_controllers/MpcController" - namespace: "emergency_controller" - eland_threshold: 5.0 # [m], position error triggering eland - failsafe_threshold: 10.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 3.0 # [m], position odometry innovation threshold diff --git a/config/old/uav/m690/gain_manager/gain_manager.yaml b/config/old/uav/m690/gain_manager/gain_manager.yaml deleted file mode 100644 index 1b48147d..00000000 --- a/config/old/uav/m690/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,52 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - ICP: ["supersoft", "soft"] - VSLAM: ["supersoft", "soft"] - BRICKFLOW: ["supersoft", "soft"] - HECTOR: ["supersoft"] - ALOAM: ["supersoft"] - ALOAMGARM: ["supersoft"] - ALOAMREP: ["soft"] - BRICK: ["supersoft", "soft"] - T265: ["supersoft", "soft", "tight"] - OBJECT: ["supersoft"] - VIO: ["supersoft"] - LIDAR: ["supersoft"] - RTK: ["supersoft", "soft", "tight"] - OPTFLOWGPS: ["supersoft"] - GPS: ["supersoft", "soft", "tight"] - OPTFLOW: ["supersoft", "soft"] - TOWER: ["supersoft", "soft"] - LIOSAM: ["supersoft", "soft", "tight"] - OTHER: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - ICP: "supersoft" - VSLAM: "supersoft" - BRICKFLOW: "supersoft" - HECTOR: "supersoft" - ALOAM: "supersoft" - ALOAMGARM: "supersoft" - ALOAMREP: "soft" - BRICK: "supersoft" - T265: "supersoft" - OBJECT: "supersoft" - VIO: "supersoft" - LIDAR: "supersoft" - RTK: "supersoft" - OPTFLOWGPS: "supersoft" - GPS: "supersoft" - OPTFLOW: "supersoft" - TOWER: "supersoft" - LIOSAM: "supersoft" - OTHER: "supersoft" diff --git a/config/old/uav/m690/gain_manager/gains.yaml b/config/old/uav/m690/gain_manager/gains.yaml deleted file mode 100644 index ad928cab..00000000 --- a/config/old/uav/m690/gain_manager/gains.yaml +++ /dev/null @@ -1,83 +0,0 @@ -supersoft: - - horizontal: - kp: 6.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.3 - kib_lim: 10.0 - - kiw: 0.3 - kiw_lim: 10.0 - - vertical: - kp: 5.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 0.5 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 8.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 6.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 6.0 - - mass_estimator: - km: 0.5 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 12.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 8.0 - - kib: 1.0 - kib_lim: 10.0 - - kiw: 1.0 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 8.0 - - mass_estimator: - km: 0.5 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/m690/trackers.yaml b/config/old/uav/m690/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/m690/uav_manager.yaml b/config/old/uav/m690/uav_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/naki/constraint_manager/constraint_manager.yaml b/config/old/uav/naki/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/naki/constraint_manager/constraints.yaml b/config/old/uav/naki/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/naki/control_manager.yaml b/config/old/uav/naki/control_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/naki/controllers.yaml b/config/old/uav/naki/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/naki/gain_manager/gain_manager.yaml b/config/old/uav/naki/gain_manager/gain_manager.yaml deleted file mode 100644 index 035eb532..00000000 --- a/config/old/uav/naki/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,30 +0,0 @@ -gains: [ - "supersoft", - "soft", -] - - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["soft"] - aloam: ["supersoft", "soft"] - vio: ["supersoft"] - rtk: ["supersoft"] - gps_garmin: ["supersoft", "soft"] - gps_baro: ["supersoft", "soft"] - optflow: ["supersoft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - hector_garmin: "soft" - aloam: "soft" - vio: "supersoft" - rtk: "supersoft" - gps_garmin: "supersoft" - gps_baro: "supersoft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/uav/naki/gain_manager/gains.yaml b/config/old/uav/naki/gain_manager/gains.yaml deleted file mode 100644 index c352252e..00000000 --- a/config/old/uav/naki/gain_manager/gains.yaml +++ /dev/null @@ -1,55 +0,0 @@ -supersoft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.3 - kib_lim: 10.0 - - kiw: 0.3 - kiw_lim: 10.0 - - vertical: - kp: 5.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 0.5 - km_lim: 7.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 6.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 3.0 - - mass_estimator: - km: 0.5 - km_lim: 7.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/naki/trackers.yaml b/config/old/uav/naki/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/naki/uav_manager.yaml b/config/old/uav/naki/uav_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/t18/constraint_manager/constraint_manager.yaml b/config/old/uav/t18/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/t18/constraint_manager/constraints.yaml b/config/old/uav/t18/constraint_manager/constraints.yaml deleted file mode 100644 index b484b34f..00000000 --- a/config/old/uav/t18/constraint_manager/constraints.yaml +++ /dev/null @@ -1,27 +0,0 @@ -fast: - - horizontal: - speed: 8.0 - acceleration: 2.5 - jerk: 10.0 - snap: 20.0 - - vertical: - - ascending: - speed: 2.0 - acceleration: 2.0 - jerk: 5.0 - snap: 3.0 - - descending: - speed: 2.0 - acceleration: 2.0 - jerk: 5.0 - snap: 3.0 - - heading: - speed: 1.0 - acceleration: 2.0 - jerk: 10.0 - snap: 10.0 diff --git a/config/old/uav/t18/control_manager.yaml b/config/old/uav/t18/control_manager.yaml deleted file mode 100644 index cf9983b9..00000000 --- a/config/old/uav/t18/control_manager.yaml +++ /dev/null @@ -1,5 +0,0 @@ -rc_joystick: - - horizontal_speed: 2.00 # [m/s] - vertical_speed: 1.00 # [m/s] - heading_rate: 0.20 # [rad/s] diff --git a/config/old/uav/t18/controllers.yaml b/config/old/uav/t18/controllers.yaml deleted file mode 100644 index 72cbe1ee..00000000 --- a/config/old/uav/t18/controllers.yaml +++ /dev/null @@ -1,13 +0,0 @@ -Se3Controller: - address: "mrs_uav_controllers/Se3Controller" - namespace: "se3_controller" - eland_threshold: 3.0 # [m], position error triggering eland - failsafe_threshold: 5.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 2.0 # [m], position odometry innovation threshold - -EmergencyController: - address: "mrs_uav_controllers/MpcController" - namespace: "emergency_controller" - eland_threshold: 5.0 # [m], position error triggering eland - failsafe_threshold: 10.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 3.0 # [m], position odometry innovation threshold diff --git a/config/old/uav/t18/gain_manager/gain_manager.yaml b/config/old/uav/t18/gain_manager/gain_manager.yaml deleted file mode 100644 index ac8ade6b..00000000 --- a/config/old/uav/t18/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,27 +0,0 @@ -gains: [ - "supersoft", - "soft", -] - - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["supersoft"] - aloam: ["supersoft"] - vio: ["supersoft"] - rtk: ["supersoft", "soft"] - gps: ["supersoft", "soft"] - optflow: ["supersoft", "soft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - aloam: "supersoft" - vio: "supersoft" - rtk: "supersoft" - gps: "supersoft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/uav/t18/gain_manager/gains.yaml b/config/old/uav/t18/gain_manager/gains.yaml deleted file mode 100644 index aabcc865..00000000 --- a/config/old/uav/t18/gain_manager/gains.yaml +++ /dev/null @@ -1,55 +0,0 @@ -supersoft: - - horizontal: - kp: 3.0 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 4.0 - - kib: 0.3 - kib_lim: 10.0 - - kiw: 0.3 - kiw_lim: 10.0 - - vertical: - kp: 5.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 8.0 - - mass_estimator: - km: 2.0 - km_lim: 15.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 4.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 4.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 8.0 - - mass_estimator: - km: 2.0 - km_lim: 15.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/t18/trackers.yaml b/config/old/uav/t18/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/t18/uav_manager.yaml b/config/old/uav/t18/uav_manager.yaml deleted file mode 100644 index df58a0e6..00000000 --- a/config/old/uav/t18/uav_manager.yaml +++ /dev/null @@ -1,15 +0,0 @@ -takeoff: - - during_takeoff: - controller: "MpcController" - tracker: "LandoffTracker" - - after_takeoff: - controller: "Se3Controller" - tracker: "MpcTracker" - - takeoff_height: 2.5 - -landing: - - disarm: true diff --git a/config/old/uav/t650/constraint_manager/constraint_manager.yaml b/config/old/uav/t650/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/t650/constraint_manager/constraints.yaml b/config/old/uav/t650/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/t650/control_manager.yaml b/config/old/uav/t650/control_manager.yaml deleted file mode 100644 index a5dec998..00000000 --- a/config/old/uav/t650/control_manager.yaml +++ /dev/null @@ -1,11 +0,0 @@ -safety: - - parachute: - - enabled: false - -rc_joystick: - - horizontal_speed: 1.00 # [m/s] - vertical_speed: 1.00 # [m/s] - heading_rate: 0.20 # [rad/s] diff --git a/config/old/uav/t650/controllers.yaml b/config/old/uav/t650/controllers.yaml deleted file mode 100644 index 7af90bad..00000000 --- a/config/old/uav/t650/controllers.yaml +++ /dev/null @@ -1,13 +0,0 @@ -Se3Controller: - address: "mrs_uav_controllers/Se3Controller" - namespace: "se3_controller" - eland_threshold: 2.5 # [m], position error triggering eland - failsafe_threshold: 5.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 2.0 # [m], position odometry innovation threshold - -EmergencyController: - address: "mrs_uav_controllers/MpcController" - namespace: "emergency_controller" - eland_threshold: 5.0 # [m], position error triggering eland - failsafe_threshold: 10.0 # [m], position error triggering failsafe land - odometry_innovation_threshold: 3.0 # [m], position odometry innovation threshold diff --git a/config/old/uav/t650/gain_manager/gain_manager.yaml b/config/old/uav/t650/gain_manager/gain_manager.yaml deleted file mode 100644 index 334fbdbe..00000000 --- a/config/old/uav/t650/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,30 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight", -] - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["supersoft"] - aloam: ["supersoft"] - vio: ["supersoft"] - rtk: ["supersoft", "soft", "tight"] - gps_garmin: ["supersoft", "soft", "tight"] - gps_baro: ["supersoft", "soft", "tight"] - optflow: ["supersoft", "soft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - hector_garmin: "supersoft" - aloam: "supersoft" - vio: "supersoft" - rtk: "soft" - gps_garmin: "soft" - gps_baro: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/uav/t650/gain_manager/gains.yaml b/config/old/uav/t650/gain_manager/gains.yaml deleted file mode 100644 index 6c8a4f75..00000000 --- a/config/old/uav/t650/gain_manager/gains.yaml +++ /dev/null @@ -1,83 +0,0 @@ -supersoft: - - horizontal: - kp: 6.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 8.0 - - kib: 0.3 - kib_lim: 10.0 - - kiw: 0.3 - kiw_lim: 10.0 - - vertical: - kp: 5.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 8.0 - - mass_estimator: - km: 0.5 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 8.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 8.0 - - kib: 0.7 - kib_lim: 10.0 - - kiw: 0.7 - kiw_lim: 10.0 - - vertical: - kp: 8.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 8.0 - - mass_estimator: - km: 0.5 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 12.0 - kv: 3.0 - ka: 1.0 - - attitude: - kq: 8.0 - - kib: 1.0 - kib_lim: 10.0 - - kiw: 1.0 - kiw_lim: 10.0 - - vertical: - kp: 10.0 - kv: 4.0 - ka: 1.0 - - attitude: - kq: 8.0 - - mass_estimator: - km: 0.5 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/t650/trackers.yaml b/config/old/uav/t650/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/t650/uav_manager.yaml b/config/old/uav/t650/uav_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/x500/constraint_manager/constraint_manager.yaml b/config/old/uav/x500/constraint_manager/constraint_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/x500/constraint_manager/constraints.yaml b/config/old/uav/x500/constraint_manager/constraints.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/x500/control_manager.yaml b/config/old/uav/x500/control_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/x500/controllers.yaml b/config/old/uav/x500/controllers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/x500/gain_manager/gain_manager.yaml b/config/old/uav/x500/gain_manager/gain_manager.yaml deleted file mode 100644 index 83008b94..00000000 --- a/config/old/uav/x500/gain_manager/gain_manager.yaml +++ /dev/null @@ -1,32 +0,0 @@ -gains: [ - "supersoft", - "soft", - "tight", - "supertight", -] - - -gain_management: - - # list of allowed gains per odometry mode - allowed_gains: - hector_garmin: ["supersoft"] - aloam: ["supersoft", "soft"] - vio: ["supersoft"] - rtk: ["supersoft"] - gps_garmin: ["supersoft", "soft"] - gps_baro: ["supersoft", "soft"] - optflow: ["supersoft"] - other: ["supersoft"] - - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) - fallback_gains: - hector_garmin: "supersoft" - aloam: "soft" - vio: "supersoft" - rtk: "supersoft" - gps_garmin: "soft" - gps_baro: "soft" - optflow: "supersoft" - other: "supersoft" diff --git a/config/old/uav/x500/gain_manager/gains.yaml b/config/old/uav/x500/gain_manager/gains.yaml deleted file mode 100644 index 30f34f74..00000000 --- a/config/old/uav/x500/gain_manager/gains.yaml +++ /dev/null @@ -1,111 +0,0 @@ -supersoft: - - horizontal: - kp: 2.3 - kv: 1.5 - ka: 1.0 - - attitude: - kq: 5.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 5.0 - kv: 5.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 0.5 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -soft: - - horizontal: - kp: 2.5 - kv: 1.8 - ka: 1.0 - - attitude: - kq: 7.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 15.0 - kv: 10.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 0.5 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -tight: - - horizontal: - kp: 2.8 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 7.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 15.0 - kv: 10.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 0.5 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] - -supertight: - - horizontal: - kp: 3.1 - kv: 2.0 - ka: 1.0 - - attitude: - kq: 7.0 - - kib: 0.1 - kib_lim: 10.0 - - kiw: 0.1 - kiw_lim: 10.0 - - vertical: - kp: 15.0 - kv: 10.0 - ka: 1.0 - - attitude: - kq: 5.0 - - mass_estimator: - km: 0.5 - km_lim: 6.0 # [kg, at least 1/2 of the UAVs mass to allow landing detection] diff --git a/config/old/uav/x500/trackers.yaml b/config/old/uav/x500/trackers.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/old/uav/x500/uav_manager.yaml b/config/old/uav/x500/uav_manager.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/public/constraint_manager/constraint_manager.yaml b/config/public/constraint_manager/constraint_manager.yaml index d6ec8864..eb593416 100644 --- a/config/public/constraint_manager/constraint_manager.yaml +++ b/config/public/constraint_manager/constraint_manager.yaml @@ -21,7 +21,7 @@ mrs_uav_managers: "fast", ] - # list of allowed gains per odometry mode + # list of allowed constraints per odometry mode allowed_constraints: gps_garmin: ["slow", "medium", "fast"] gps_baro: ["slow", "medium", "fast"] @@ -34,8 +34,8 @@ mrs_uav_managers: ground_truth: ["slow", "medium", "fast"] passthrough: ["slow", "medium", "fast"] - # those gains will be used automatically when a localization mode switches - # and the current gains are not in the allowed list (next paragraphs) + # those constraints will be used automatically when a localization mode switches + # and the current constraints are not in the allowed list (next paragraphs) default_constraints: gps_garmin: "slow" gps_baro: "slow"