50 lines
1.2 KiB
JSON
50 lines
1.2 KiB
JSON
{
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"_comment": "视觉跟踪控制律配置。全部数值为占位示例（对应 docs/物理追踪思路.md 第 8 章待定项），键名后缀标注单位；标定完成前仅限回放验证，不得用于实飞。",
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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": 30.0,
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"yaw_slew_limit_dps2": 60.0
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},
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"vertical": {
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"vz_gain_mps_per_deg": 0.1,
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"vz_limit_mps": 2.0
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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": 0.05,
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"kd": 0.1,
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"integral_limit": 2.0,
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"derivative_filter_coef": 0.2,
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"approach_velocity_limit_mps": 3.0,
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"retreat_velocity_limit_mps": 1.0,
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"no_distance_action": "slow_approach",
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"no_distance_approach_limit_mps": 0.5,
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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": 2.0,
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"ay_mps2": 2.0,
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"az_mps2": 1.5
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}
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}
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