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x8-02.ini
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############################################################################
# Copyright 2007-2021 Universidade do Porto - Faculdade de Engenharia #
# Laboratório de Sistemas e Tecnologia Subaquática (LSTS) #
############################################################################
# This file is part of DUNE: Unified Navigation Environment. #
# #
# Commercial Licence Usage #
# Licencees holding valid commercial DUNE licences may use this file in #
# accordance with the commercial licence agreement provided with the #
# Software or, alternatively, in accordance with the terms contained in a #
# written agreement between you and Faculdade de Engenharia da #
# Universidade do Porto. For licensing terms, conditions, and further #
# information contact [email protected]. #
# #
# Modified European Union Public Licence - EUPL v.1.1 Usage #
# Alternatively, this file may be used under the terms of the Modified #
# EUPL, Version 1.1 only (the "Licence"), appearing in the file LICENCE.md #
# included in the packaging of this file. You may not use this work #
# except in compliance with the Licence. Unless required by applicable #
# law or agreed to in writing, software distributed under the Licence is #
# distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF #
# ANY KIND, either express or implied. See the Licence for the specific #
# language governing permissions and limitations at #
# https://github.com/LSTS/dune/blob/master/LICENCE.md and #
# http://ec.europa.eu/idabc/eupl.html. #
############################################################################
# Author: Joao Fortuna #
# Ricardo Bencatel #
# Filipe Ferreira #
############################################################################
# X8-Flying Wing configuration file #
############################################################################
[Require uav/ardupilot.ini]
[Require hardware/radio.ini]
[General]
Vehicle = x8-02
[Transports.SerialOverTCP]
Enabled = Hardware
Entity Label = Arduino Serial
Serial Port - Device = /dev/ttyO0
Serial Port - Baud Rate = 57600
[Supervisors.UAV.LostComms]
Enabled = Hardware, Simulation, HITL
[Control.UAV.Ardupilot/Hardware]
Default altitude = 200.0
Default loiter radius = 75.0
RC 1 PWM MIN = 1071
RC 1 PWM MAX = 1899
RC 1 MAX = 30.0
RC 1 REV = true
RC 2 PWM MIN = 1102
RC 2 PWM MAX = 1928
RC 2 MAX = 2.0
RC 3 PWM MIN = 1041
RC 3 PWM MAX = 2056
RC 3 MIN = 15.0
RC 3 MAX = 22.0
Convert MSL to WGS84 height = true
IPv4 - Address = 10.0.20.100
[Control.Path.Height]
Enabled = Always
Height bandwidth = 40
Vertical Rate maximum gain = 0.20
EstimatedState Filter = x8-02:Autopilot
#DesiredZ Filter = x8-02:Path Control
#Debug Level = Trace
[Control.UAV.LOS]
Enabled = Always
Look Ahead Gain = 1.2
Turn Rate Gain = 0.0005
Maximum Bank = 30
Debug Level = Debug
[Control.Path.LOSnSMC]
Enabled = Never
[Vision.PhotoTrigger]
Enabled = Never
Entity Label = Photo Trigger
Trigger Frequency = 0.4
#[Control.Path.Formation.Controller]
#Leader Name = form-leader-02
#Leader Output Frequency = 10
#Maximum Airspeed = 20.0
#Minimum Airspeed = 14.0
#Debug Level = Trace
#[Control.Path.Formation.Test]
#Entity Label = Formation Tester
#Enabled = DSIL
#Execution Frequency = 10
#[Control.UAV.LOS/Leader]
#Enabled = Always
#Entity Label = Path Control Leader
#EstimatedState Filter = form-leader-02:Formation Control
[Simulators.UAV/Simulation]
Stream Speed to North = -3
Stream Speed to East = -1
Simulation type = 5DOF
Speed Time Constant = 2.0
Bank Time Constant = 0.1
Altitude Time Constant = 3.0
Bank Rate Limit = 60
Longitudinal Acceleration Limit = 0.5
Vertical Slope Limit = 0.15
#Initial Reference Latitude = 39.09
#Initial Reference Longitude = -8.964
#Reference Ground Height = 47.3
[Simulators.UAVAutopilot]
SimulatedState Filter = x8-02:UAV Simulator
#[Transports.UDP/Formation]
#Entity Label = Formation Link
#Enabled = Hardware
#Local Port = 6020
#Static Destinations = 10.0.20.100:6020,
# 10.0.20.110:6020
#Transports = EstimatedState,
# EstimatedStreamVelocity
#[Transports.UDP/Formation-Sim]
#Entity Label = Formation Link
#Enabled = Simulation, AP-SIL, AP-HIL
#Local Port = 6022
#Static Destinations = 127.0.0.1:6021,
## 127.0.0.1:6023,
# 192.168.1.18:6023,
# 127.0.0.1:6024
#Static Destinations = 192.168.1.18:6032
#Transports = EstimatedState,
# EstimatedStreamVelocity
[Transports.UDP/PTU]
Enabled = Never
Entity Label = PTUTransport
Local Port = 6020
Static Destinations = 10.0.30.3:6002
Transports = EstimatedState
[Transports.Radio]
Active = false
Enable telemetry report = true
Mode of communication = Client
Serial Port - Device = /dev/ttyUSB0
Enable UAV high speed report = true