keita
5a944af4f5
- visual_track_control: ControlSnapshot 加可选 los_beta_deg/los_alpha_deg, 第④步角度直入优先否则回退像素路径(向后兼容); config 拆出 load_from_dict 供内嵌复用 - pod_bridge: BridgeConfig 内嵌 TrackingConfig + 新 HeadingServoConfig; bridge._build_snapshot 合成 β/α(姿态来自PX4/角度来自吊舱,信号双路适配无电机), step 按 heading_servo.enabled 切 L1/L2, DEGRADED_HOLD 补发刹车保 offboard 心跳; run() 循环频率按生效律取(修 L1 频率错配) - run_bridge.py: 闭环 CLI 入口, --dry-run(S2 只接吊舱不发offboard) 与实飞优雅停机 - 配置落 L1 首飞值(slow_approach/0.2mps、垂直压低、无电机仅用脱靶量) - 新增测试 29 条(vtc5+config9+bridgeL1 10+runner5); 全量 401 passed
88 lines
2.2 KiB
JSON
88 lines
2.2 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)。全部数值为台架标定前占位，符号(beta_sign/alpha_sign)与增益须经 S1/S2 标定后回填，标定前不得实飞。",
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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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"require_vision": false
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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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}
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