add real flight param

hku-mars · Oct 15, 2023 · a870223 · a870223
1 parent 176742c
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diff --git a/IPC/config/param_real.yaml b/IPC/config/param_real.yaml
@@ -0,0 +1,67 @@
+#----------------- MPC param -----------------#
+simulation:    true
+perfect_simu:  false
+frequency:     100.0
+ctrl_delay:    0.0
+sfc_dis:       0.3
+
+thrust_limit:  0.8
+hover_esti:    true
+hover_perc:    0.3
+
+yaw_ctrl_flag: true
+yaw_gain:      0.6
+
+goal_x:        0.0
+goal_y:        0.0
+goal_z:        0.5
+
+astar:
+  resolution:  0.2
+  map_x_size:  8.0
+  map_y_size:  8.0
+  map_z_size:  1.5
+  expand_dyn:  0.5
+  expand_fix:  0.3
+
+fsm:
+  ref_dis:     5
+  path_dis:    0.05
+
+mpc:
+  horizon:     15
+  step:        0.1
+
+  R_p:         1000.0
+  R_v:         0.0
+  R_a:         0.0
+  R_u:         0.0
+  R_u_con:     0.2
+  R_pN:        2000.0
+  R_vN:        200.0
+  R_aN:        200.0
+
+  D_x:         0.0
+  D_y:         0.0
+  D_z:         0.0
+
+  vx_min:     -10.0
+  vy_min:     -10.0
+  vz_min:     -10.0
+  vx_max:      10.0
+  vy_max:      10.0
+  vz_max:      10.0
+
+  ax_min:     -20.0
+  ay_min:     -20.0
+  az_min:     -10.0
+  ax_max:      20.0
+  ay_max:      20.0
+  az_max:      20.0
+
+  ux_min:     -100.0
+  uy_min:     -100.0
+  uz_min:     -100.0
+  ux_max:      100.0
+  uy_max:      100.0
+  uz_max:      100.0
diff --git a/IPC/launch/ipc_real.launch b/IPC/launch/ipc_real.launch
@@ -0,0 +1,23 @@
+<launch>
+    <node pkg="ipc" type="ipc_node" name="ipc_node" output="screen">
+        <!-- publish topic -->
+        <remap from="cmd"          to="/planning/pos_cmd"/>
+        <remap from="astar_path"   to="/astar/path"/>
+        <remap from="grid_map"     to="/astar/grid_map"/>
+        <remap from="sfc"          to="/mkr_arr"/>
+        <remap from="mpc_path"     to="/mpc/path"/>
+        <remap from="px4ctrl"      to="/mavros/setpoint_raw/attitude"/>
+        <remap from="goal_pub"     to="/mpc/goal"/>
+
+        <!-- subscribe topic -->
+        <remap from="local_pc"     to="/cloud_registered"/>
+        <remap from="odom"         to="/lidar_slam/imu_propagate"/>
+        <remap from="imu"          to="/mavros/imu/data"/>
+        <remap from="goal"         to="/goal"/>
+        <remap from="rc_in"        to="/mavros/rc/in"/>
+
+        <rosparam command="load" file="$(find ipc)/config/param_real.yaml"/>
+
+    </node>
+
+</launch>