# Common configuration for APM2 autopilot # # node: startup_px4_usb_quirk: false # --- system plugins --- # sys_status & sys_time connection options conn: heartbeat_rate: 1.0 # send hertbeat rate in Hertz heartbeat_mav_type: "ONBOARD_CONTROLLER" timeout: 10.0 # hertbeat timeout in seconds timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0) system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0) # sys_status sys: min_voltage: 10.0 # diagnostics min voltage disable_diag: false # disable all sys_status diagnostics, except heartbeat # sys_time time: time_ref_source: "fcu" # time_reference source timesync_mode: MAVLINK timesync_avg_alpha: 0.6 # timesync averaging factor # --- mavros plugins (alphabetical order) --- # 3dr_radio tdr_radio: low_rssi: 40 # raw rssi lower level for diagnostics # actuator_control # None # command cmd: use_comp_id_system_control: false # quirk for some old FCUs # dummy # None # ftp # None # global_position global_position: frame_id: "map" # origin frame child_frame_id: "base_link_drone" # body-fixed frame rot_covariance: 99999.0 # covariance for attitude? gps_uere: 1.0 # User Equivalent Range Error (UERE) of GPS sensor (m) use_relative_alt: true # use relative altitude for local coordinates tf: send: true # send TF? frame_id: "map" # TF frame_id global_frame_id: "map" # TF earth frame_id child_frame_id: "base_link_drone" # TF child_frame_id # imu_pub imu: frame_id: "base_link" # need find actual values linear_acceleration_stdev: 0.0003 angular_velocity_stdev: 0.0003490659 // 0.02 degrees orientation_stdev: 1.0 magnetic_stdev: 0.0 # local_position local_position: frame_id: "map" tf: send: false frame_id: "map" child_frame_id: "base_link" send_fcu: false # param # None, used for FCU params # rc_io # None # safety_area safety_area: p1: {x: 1.0, y: 1.0, z: 1.0} p2: {x: -1.0, y: -1.0, z: -1.0} # setpoint_accel setpoint_accel: send_force: false # setpoint_attitude setpoint_attitude: reverse_thrust: false # allow reversed thrust use_quaternion: false # enable PoseStamped topic subscriber tf: listen: false # enable tf listener (disable topic subscribers) frame_id: "map" child_frame_id: "target_attitude" rate_limit: 50.0 # setpoint_raw setpoint_raw: thrust_scaling: 1.0 # specify thrust scaling (normalized, 0 to 1) for thrust (like PX4) # setpoint_position setpoint_position: tf: listen: false # enable tf listener (disable topic subscribers) frame_id: "map" child_frame_id: "target_position" rate_limit: 50.0 mav_frame: LOCAL_NED # setpoint_velocity setpoint_velocity: mav_frame: LOCAL_NED # vfr_hud # None # waypoint mission: pull_after_gcs: true # update mission if gcs updates use_mission_item_int: true # use the MISSION_ITEM_INT message instead of MISSION_ITEM # for uploading waypoints to FCU # --- mavros extras plugins (same order) --- # adsb # None # debug_value # None # distance_sensor ## Currently available orientations: # Check http://wiki.ros.org/mavros/Enumerations ## distance_sensor: # rangefinder_sub: # frame_id: "drone_with_sonar::base_sonar_left" # subscriber: true # id: 0 # orientation: PITCH_270 # only that orientation are supported by APM 3.4+ front: frame_id: "drone_with_sonar::base_sonar_front" subscriber: true id: 0 orientation: NONE max_range: 6.5 left: frame_id: "drone_with_sonar::base_sonar_left" subscriber: true id: 2 orientation: YAW_270 right: frame_id: "drone_with_sonar::base_sonar_right" subscriber: true id: 3 orientation: YAW_90 back: frame_id: "drone_with_sonar::base_sonar_left" subscriber: true id: 4 orientation: YAW_180 # image_pub image: frame_id: "px4flow" # fake_gps fake_gps: # select data source use_mocap: true # ~mocap/pose mocap_transform: false # ~mocap/tf instead of pose mocap_withcovariance: false # ~mocap/pose uses PoseWithCovarianceStamped Message use_vision: false # ~vision (pose) use_hil_gps: true gps_id: 4 # origin (default: Zürich) geo_origin: lat: 47.3667 # latitude [degrees] lon: 8.5500 # longitude [degrees] alt: 408.0 # altitude (height over the WGS-84 ellipsoid) [meters] eph: 2.0 epv: 2.0 horiz_accuracy: 0.5 vert_accuracy: 0.5 speed_accuracy: 0.0 satellites_visible: 6 # virtual number of visible satellites fix_type: 3 # type of GPS fix (default: 3D) tf: listen: false send: false # send TF? frame_id: "map" # TF frame_id child_frame_id: "fix" # TF child_frame_id rate_limit: 10.0 # TF rate gps_rate: 5.0 # GPS data publishing rate # landing_target landing_target: listen_lt: false mav_frame: "LOCAL_NED" land_target_type: "VISION_FIDUCIAL" image: width: 640 # [pixels] height: 480 camera: fov_x: 2.0071286398 # default: 115 [degrees] fov_y: 2.0071286398 tf: send: true listen: false frame_id: "landing_target" child_frame_id: "camera_center" rate_limit: 10.0 target_size: {x: 0.3, y: 0.3} # mocap_pose_estimate mocap: # select mocap source use_tf: false # ~mocap/tf use_pose: true # ~mocap/pose # odom odometry: frame_tf: desired_frame: "ned" estimator_type: 3 # check enum MAV_ESTIMATOR_TYPE in # px4flow px4flow: frame_id: "px4flow" ranger_fov: 0.118682 # 6.8 degrees at 5 meters, 31 degrees at 1 meter ranger_min_range: 0.3 # meters ranger_max_range: 5.0 # meters # vision_pose_estimate vision_pose: tf: listen: false # enable tf listener (disable topic subscribers) frame_id: "map" child_frame_id: "vision_estimate" rate_limit: 10.0 # vision_speed_estimate vision_speed: listen_twist: true # enable listen to twist topic, else listen to vec3d topic twist_cov: true # enable listen to twist with covariance topic # vibration vibration: frame_id: "base_link" # wheel_odometry wheel_odometry: count: 2 # number of wheels to compute odometry use_rpm: false # use wheel's RPM instead of cumulative distance to compute odometry wheel0: {x: 0.0, y: -0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m) wheel1: {x: 0.0, y: 0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m) send_raw: true # send wheel's RPM and cumulative distance (~/wheel_odometry/rpm, ~/wheel_odometry/distance) send_twist: false # send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometry frame_id: "map" # origin frame child_frame_id: "base_link" # body-fixed frame vel_error: 0.1 # wheel velocity measurement error 1-std (m/s) tf: send: true frame_id: "map" child_frame_id: "base_link" # vim:set ts=2 sw=2 et: