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added unit comments to constraints
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klaxalk committed Nov 4, 2024
1 parent 45d0ce0 commit 64e8251
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38 changes: 19 additions & 19 deletions config/private/control_manager.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -35,35 +35,35 @@ mrs_uav_managers:
default_constraints:

horizontal:
speed: 1.0
acceleration: 1.0
jerk: 20.0
snap: 20.0
speed: 1.0 # [m/s]
acceleration: 1.0 # [m/s^2]
jerk: 20.0 # [m/s^3]
snap: 20.0 # [m/s^4]

vertical:

ascending:
speed: 1.0
acceleration: 1.0
jerk: 20.0
snap: 20.0
speed: 1.0 # [m/s]
acceleration: 1.0 # [m/s^2]
jerk: 20.0 # [m/s^3]
snap: 20.0 # [m/s^4]

descending:
speed: 1.0
acceleration: 1.0
jerk: 20.0
snap: 20.0
speed: 1.0 # [m/s]
acceleration: 1.0 # [m/s^2]
jerk: 20.0 # [m/s^3]
snap: 20.0 # [m/s^4]

heading:
speed: 1.0
acceleration: 1.0
jerk: 10.0
snap: 10.0
speed: 1.0 # [rad/s]
acceleration: 1.0 # [rad/s^2]
jerk: 10.0 # [rad/s^3]
snap: 10.0 # [rad/s^4]

angular_speed:
roll: 20.0
pitch: 20.0
yaw: 10.0
roll: 20.0 # [rad/s]
pitch: 20.0 # [rad/s]
yaw: 10.0 # [rad/s]

tilt: 60.0 # [deg]

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114 changes: 57 additions & 57 deletions config/public/constraint_manager/constraints.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -5,104 +5,104 @@ mrs_uav_managers:
slow:

horizontal:
speed: 1.0
acceleration: 1.0
jerk: 20.0
snap: 20.0
speed: 1.0 # [m/s]
acceleration: 1.0 # [m/s^2]
jerk: 20.0 # [m/s^3]
snap: 20.0 # [m/s^4]

vertical:

ascending:
speed: 1.0
acceleration: 1.0
jerk: 20.0
snap: 20.0
speed: 1.0 # [m/s]
acceleration: 1.0 # [m/s^2]
jerk: 20.0 # [m/s^3]
snap: 20.0 # [m/s^4]

descending:
speed: 1.0
acceleration: 1.0
jerk: 20.0
snap: 20.0
speed: 1.0 # [m/s]
acceleration: 1.0 # [m/s^2]
jerk: 20.0 # [m/s^3]
snap: 20.0 # [m/s^4]

heading:
speed: 0.5
acceleration: 1.0
jerk: 10.0
snap: 10.0
speed: 0.5 # [rad/s]
acceleration: 1.0 # [rad/s^2]
jerk: 10.0 # [rad/s^3]
snap: 10.0 # [rad/s^4]

angular_speed:
roll: 60.0
pitch: 60.0
yaw: 10.0
roll: 60.0 # [rad/s]
pitch: 60.0 # [rad/s]
yaw: 10.0 # [rad/s]

tilt: 60.0 # [deg]

medium:

horizontal:
speed: 4.0
acceleration: 2.0
jerk: 40.0
snap: 40.0
speed: 4.0 # [m/s]
acceleration: 2.0 # [m/s^2]
jerk: 40.0 # [m/s^3]
snap: 40.0 # [m/s^4]

vertical:

ascending:
speed: 2.0
acceleration: 1.0
jerk: 40.0
snap: 40.0
speed: 2.0 # [m/s]
acceleration: 1.0 # [m/s^2]
jerk: 40.0 # [m/s^3]
snap: 40.0 # [m/s^4]

descending:
speed: 2.0
acceleration: 1.0
jerk: 40.0
snap: 40.0
speed: 2.0 # [m/s]
acceleration: 1.0 # [m/s^2]
jerk: 40.0 # [m/s^3]
snap: 40.0 # [m/s^4]

heading:
speed: 1.0
acceleration: 1.0
jerk: 20.0
snap: 20.0
speed: 1.0 # [rad/s]
acceleration: 1.0 # [rad/s^2]
jerk: 20.0 # [rad/s^3]
snap: 20.0 # [rad/s^4]

angular_speed:
roll: 60.0
pitch: 60.0
yaw: 10.0
roll: 60.0 # [rad/s]
pitch: 60.0 # [rad/s]
yaw: 10.0 # [rad/s]

tilt: 60.0 # [deg]

fast:

horizontal:
speed: 8.0
acceleration: 4.0
jerk: 60.0
snap: 60.0
speed: 8.0 # [m/s]
acceleration: 4.0 # [m/s^2]
jerk: 60.0 # [m/s^3]
snap: 60.0 # [m/s^4]

vertical:

ascending:
speed: 4.0
acceleration: 2.0
jerk: 60.0
snap: 60.0
speed: 4.0 # [m/s]
acceleration: 2.0 # [m/s^2]
jerk: 60.0 # [m/s^3]
snap: 60.0 # [m/s^4]

descending:
speed: 4.0
acceleration: 2.0
jerk: 60.0
snap: 60.0
speed: 4.0 # [m/s]
acceleration: 2.0 # [m/s^2]
jerk: 60.0 # [m/s^3]
snap: 60.0 # [m/s^4]

heading:
speed: 2.0
acceleration: 2.0
jerk: 40.0
snap: 40.0
speed: 2.0 # [rad/s]
acceleration: 2.0 # [rad/s^2]
jerk: 40.0 # [rad/s^3]
snap: 40.0 # [rad/s^4]

angular_speed:
roll: 60.0
pitch: 60.0
yaw: 10.0
roll: 60.0 # [rad/s]
pitch: 60.0 # [rad/s]
yaw: 10.0 # [rad/s]

tilt: 60.0 # [deg]

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