keita
ded17d7995
- utils/task_runner: 6态状态机(WAIT→ARM_TAKEOFF→GOTO(L2)→TRACK(L1)→APPROACH→RTL) + 编排器(快照采集/状态动作) + 双层日志(事件JSONL/遥测CSV) + 吊舱控制指令(0x07/0x0F/0x0E/0x08) - pod_bridge: ground_link 地面坐标UDP注入(超龄判无效,无激光替代表4); set_heading_servo_enabled() 运行时L1/L2切换(切换即reset清积分防输出跳变); pod_locked 提为公共门控; config 新增 ground_inject 段 - virtual_pod 模拟吊舱(无电机语义) + verify_px4 增量④仅飞控验证 + pod_sitl_test L1 SITL全流程(飞行编排不塞进 run_bridge, 保持纯offboard闭环入口) - 入口: task_runner_sitl(VirtualPod+虚拟目标, SITL端到端跑通约1m24s) / task_runner_real(真串口+UDP注入+吊舱控制) - 地面站 ground_station: 坐标注入 + 状态可视化(Flask) - S1标定回填(2026-10-09): beta_sign=+1 / alpha_sign=-1, 加标定回归测试守护 - 新增测试: task_runner x4 + ground_link/virtual_pod*/bridge/px4_gateway 增量; 全量 483 passed - 文档: 预定流程(需求) + 预定流程-操作指南(操作/待办) + L1方案补S1结论与实现状态
95 lines
2.6 KiB
JSON
95 lines
2.6 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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"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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"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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