config-mini.yaml

geometry: MovingCamera
pwm_output_enabled: true
kalman_filter_parameters:
  motion_noise: 1000.0
  observation_noise: 0.0001
control_loop_timestep_secs: 0.001
kp_pan_angle: 0.0
kp_tilt_angle: 0.0
ki_pan_angle:  20.0
ki_tilt_angle:  15.0
centroid_to_sensor_x_angle_func:
# needs to be adjusted to specific camera/lens combination
  dx_gain: 0.00035 # 5.6 um / 16mm    (px pitch / focal length)
  dy_gain: 0.0
  offset: 0.0
centroid_to_sensor_y_angle_func:
  dx_gain: 0.0
  dy_gain: -0.00035 # same here, minus sign due to mounting
  offset: 0.0
pan_motor_config:
  endpoint_low: -1.5708
  endpoint_high: 1.5708
  neutral_position: 0.0
tilt_motor_config:
  endpoint_low: -0.7854
  endpoint_high: 0.5
  neutral_position: 0.0
pan_pwm_config:
  low_value: 700.0
  high_value: 2600.0
tilt_pwm_config:
  low_value: 1200.0
  high_value: 2000.0
tracking_thresholds:
  # how long to keep tracking the lost animal with estimated velocity,
  # before switching to SuspendedClosedLoop (staring at the last observation)
  msecs_to_suspend: 1000
  # how long to stay in SuspendedClosedLoop before centering
  msecs_to_acquire_lock: 30000
# motor_timeconstant (s) needs to be larger than main loop dt
# if motor_timeconstant_secs=dt (=.001), the estimated motor position is the
# current motor command
motor_timeconstant_secs: .001