keita
d255d22fc9
链路: 新增link.require_laser_valid(默认true, 有激光机型的锁定位置位粘滞兜底); 本吊舱厂商确认不含激光测距 → pod_bridge.json 置false, 并加部署配置回归测试。 文档新增§10记录设备特性(无激光/锁定位置位丢失后不复位/脱靶量无无效标志位)。 全量351条通过(新增3条激光门控用例)
31 lines
637 B
JSON
31 lines
637 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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"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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}
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