keita
df91b1110e
归档 legacy/：stereo_yolo/stereo_ranger/target_tracker 三包 + 175 条测试 + demo/配置/权重/三份规格；运行链路不再依赖，默认 pytest 446 条，归档测试按需运行。 目标有效性第二判据改为 LOS 运动学一致性（pod_bridge/los_consistency.py），删除 require_vision；pod_locked() 叠加该判据，状态机随之后退重搜。 自定义返航（task_runner/return_home.py）：保持转场高度回起飞点 → 恢复初始航向 → 垂直降落，不再爬 RTL_RETURN_ALT；未起飞/无起飞点/超时/异常仍退回 PX4 原生 RTL。 任务链安全兜底：主循环异常→紧急返航、stop 幂等、landing_stop 保留遥测、in_air 流复用+超时、解锁/起飞与吊舱识别仅执行一次、rtl_timeout 上限。 入口共享件拆到 utils/sitl_support.py；pod_sitl_test.py→l1_sitl_test.py；删除旧架构 test.py；相机脚本移入 tools/。 新增 .gitignore 并剔除历史误跟踪的 59 个 .pyc；requirements 按实际依赖重写；文档全面对齐，新增 legacy/README.md 与 tools/README.md。
98 lines
2.7 KiB
JSON
98 lines
2.7 KiB
JSON
{
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"_comment": "吊舱↔PX4 桥接配置。heading_servo.enabled=true → 走 L1 航向伺服(TrackingControlLaw)；tracking 段为 L1 控制律参数(与 visual_track_control 同结构，各分组须齐全)。S1 台架标定(2026-10-09)：目标在左下时 off_target_x/y 均为负 → 吊舱 X 轴右正(与控制律 β 同向)故 beta_sign=+1；Y 轴上正(与控制律 α 下正相反)故 alpha_sign=-1。厂商已确认本版电机无用 → beta_from_frame/alpha_from_frame 恒 false(框架角路径仅留作将来装电机的预留)。heading.gain 等增益仍为占位，须 S2 干跑验证方向与量级后方可实飞。",
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"pod_serial": {
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"port": "",
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"baudrate": 115200
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},
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"px4": {
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"connection_string": "udp://:14540"
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},
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"link": {
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"attitude_downlink_hz": 20.0,
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"telemetry_timeout_ms": 500,
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"require_laser_valid": false
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},
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"guidance": {
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"frequency_hz": 10.0,
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"target_stale_ms": 1000,
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"position_stale_ms": 1000,
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"stop_radius_m": 5.0,
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"max_speed_mps": 5.0,
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"speed_kp": 0.5,
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"speed_ki": 0.0,
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"speed_kd": 0.0,
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"speed_integral_limit": 0.0,
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"speed_derivative_filter_coef": 0.0,
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"speed_slew_mps2": 2.0,
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"max_yaw_rate_dps": 30.0,
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"yaw_kp": 1.0,
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"yaw_slew_dps2": 60.0
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},
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"heading_servo": {
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"enabled": true,
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"beta_sign": 1,
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"alpha_sign": -1,
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"beta_from_frame": false,
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"beta_from_off_target": true,
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"alpha_from_frame": false,
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"alpha_from_off_target": true,
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"vertical_enabled": true,
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"los_consistency_enabled": true,
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"los_window_ms": 3000,
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"los_min_yaw_change_deg": 20.0,
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"los_max_residual_deg": 8.0
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},
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"tracking": {
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"control": {
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"frequency_hz": 20.0,
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"visual_stale_ms": 200,
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"distance_stale_ms": 500,
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"attitude_stale_ms": 300
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},
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"camera": {
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"image_width": 1920,
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"image_height": 1080,
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"fov_h_deg": 60.0,
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"fov_v_deg": 35.0
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},
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"heading": {
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"mode": "rate",
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"gain": 1.0,
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"yaw_rate_limit_dps": 20.0,
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"yaw_slew_limit_dps2": 40.0
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},
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"vertical": {
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"vz_gain_mps_per_deg": 0.05,
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"vz_limit_mps": 0.5
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},
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"distance": {
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"d_exp_m": 10.0,
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"kp": 0.5,
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"ki": 0.0,
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"kd": 0.0,
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"integral_limit": 0.0,
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"derivative_filter_coef": 0.0,
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"approach_velocity_limit_mps": 0.5,
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"retreat_velocity_limit_mps": 0.3,
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"no_distance_action": "slow_approach",
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"no_distance_approach_limit_mps": 0.2,
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"no_distance_exit_grace_ms": 3000
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},
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"accel_limit": {
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"ax_mps2": 1.0,
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"ay_mps2": 1.0,
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"az_mps2": 0.5
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}
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},
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"ground_inject": {
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"enabled": false,
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"host": "0.0.0.0",
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"port": 14555,
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"timeout_ms": 5000
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}
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}
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