85 lines
1.9 KiB
JSON
85 lines
1.9 KiB
JSON
{
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"model": {
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"model_path": "./om/yolo26n-balloon2.om",
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"conf_threshold": 0.25,
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"device_id": 0
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},
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"video": {
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"video_source": "rtsp://192.168.144.25:8554/main.264",
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"jpeg_quality": 75
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},
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"network": {
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"ground_station_ip": "192.168.31.221",
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"udp_port": 9999
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},
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"flight_control": {
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"req_endpoint": "tcp://127.0.0.1:5555",
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"sub_endpoint": "tcp://127.0.0.1:5556",
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"takeoff_alt": 5.0,
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"control_hz": 20,
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"cruise_speed":1.0,
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"target_tracker": {
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"max_lost_frames": 8,
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"max_asscociation_dist": 200.0,
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"min_hits": 3
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},
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"connection_string": "/dev/ttyAMA1",
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"baud_rate": 57600
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},
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"fc_info":{
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"type": "px4"
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},
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"command_channel": {
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"enabled": true,
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"tcp_port": 9999
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},
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"missions": {
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"target_altitude": 3.0,
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"arrival_radius": 0.3,
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"hold_duration": 8.0,
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"return_to_home": false,
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"target_lost_timeout": null,
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"max_speed": 1.2,
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"landing": {
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"pre_hover_duration": 3.0,
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"descent_speed": 0.3
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}
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},
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"optical_flow":{
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"grid_step":25,
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"reset_threshold":30
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},
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"log": {
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"enable_flight_log": true,
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"flight_log_interval": 20,
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"log_dir": "./log"
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},
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"pid_x":{
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"kp": 1.2,
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"ki": 0.1,
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"kd": 0.05,
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"max_out": 0.8,
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"min_out": -0.8
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},
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"pid_y": {
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"kp": 1.0,
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"ki": 0.02,
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"kd": 0.3,
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"max_out": 0.8,
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"min_out": -0.8
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},
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"pid_z": {
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"kp": 1.0,
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"ki": 0.02,
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"kd": 0.3,
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"max_out": 0.4,
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"min_out": -0.4
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},
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"pid_yaw":{
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"kp":0.8,
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"ki":0.05,
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"kd":0.0,
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"max_out":1.0,
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"min_out":0.0
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}
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} |