keita
477ad5f5de
- pod_bridge: 协议G版编解码/地理位置引导律/PX4网关/串口链路/闭环主循环 - 含三项安全修复: position_time_ms拆分、表2-2锁定门控、run()异常护栏 - 测试92条全绿; 附树莓派4B(Ubuntu 24.04)部署注意事项与最小依赖清单
30 lines
603 B
JSON
30 lines
603 B
JSON
{
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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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},
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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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}
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