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Gp adjust setpoint usage feb9 #20

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Gp adjust setpoint usage feb9 #20

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ed4c201
changed to use pixhawk wp reached and only send single setpoints
gpearcey Feb 9, 2024
b966110
Add send low frequency setpoints
gpearcey Feb 10, 2024
4dcea1a
colourblind
gpearcey Feb 10, 2024
77db987
Updates
gpearcey Feb 10, 2024
14466f9
Updating params
gpearcey Feb 10, 2024
1bc640c
update nav channel params
gpearcey Feb 11, 2024
ea2f9c5
add timer resets
gpearcey Feb 11, 2024
e4cdb31
add missing timer rest
gpearcey Feb 11, 2024
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14 changes: 10 additions & 4 deletions config/params.yaml
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Original file line number Diff line number Diff line change
@@ -1,10 +1,16 @@
# nav_channel
wp_error_tolerance: 1.5 # acceptable distance for error when determining if we are at the goal, in meters.
gate_max_dist: 100.0 # max distance for gate 1, minimum distance for gate 2.
gate_max_width: 15.0 # max gap between buoys, accounts for diameter of buoys as well.
wp_error_tolerance: 1.0 # acceptable distance for error when determining if we are at the goal, in meters.
gate_max_dist: 12.0 # max distance for gate 1, minimum distance for gate 2.
gate_max_width: 8.0 # max gap between buoys, accounts for diameter of buoys as well.
dist_past_second_gate: 5 # how far the asv will travel past the second gate for the task to be considered complete, in meters
dist_to_est_gate_2: 5 # how far from the first gate will we set our estimated second gate, in meters. Boat will travel here until it detects second gate
dist_to_est_gate_2: 20 # how far from the first gate will we set our estimated second gate, in meters. Boat will travel here until it detects second gate
dist_from_gate: 2 # midpoint waypoints will be set this distance before and after the gate
colour_blind: true
# Switching Setpoint Modes
use_pixawk_reached: false
freq_disc_mode: true
freq_disc_count: 3
freq: 2 # in hertz

red_marker: "red_marker"
green_marker: "green_marker"
11 changes: 8 additions & 3 deletions config/sim_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,9 +3,14 @@ wp_error_tolerance: 1.5 # acceptable distance for error when determining if we a
gate_max_dist: 100.0 # max distance for gate 1, minimum distance for gate 2.
gate_max_width: 100.0 # max gap between buoys, accounts for diameter of buoys as well.
dist_past_second_gate: 5 # how far the asv will travel past the second gate for the task to be considered complete, in meters
dist_to_est_gate_2: 5 # how far from the first gate will we set our estimated second gate, in meters. Boat will travel here until it detects second gate
dist_to_est_gate_2: 10 # how far from the first gate will we set our estimated second gate, in meters. Boat will travel here until it detects second gate
dist_from_gate: 2 # midpoint waypoints will be set this distance before and after the gate

colour_blind: true
# Switching Setpoint Modes
use_pixawk_reached: false
freq_disc_mode: true
freq_disc_count: 3
freq: 2 # in hertz

red_marker: "red_marker"
green_marker: "green_marker"
green_marker: "green_marker"
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