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config.js
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config.js
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module.exports = {
"physics": {
"gravity": 9.81, // cst
"motorMass": 50, // in grams
"structureMass": 30, // in grams
"diagonalLength": 45, // motor-motor distance in cm
"boxHeight": 8, // distance between the axis and the center of gravity of the box in cm
"boxMass": 650, // mass of the box in grams
"linearRegressionForce" : 0.13 // Regression linéaire de la force de la seconde expèrience,
},
"mpu6050": {
"device": 1, // RaspberryPi I2C device (0 or 1)
"address": "0x68", // Sensor I2C address
"calibration": {} // Calibration data
},
"servos": {
"pins": [0, 1, 2, 3], // ServoBlaster motor outputs
"range": [85, 140, 185], // Motor commands range (minimum, safe maximum, unsafe maximum)
"initPeriod": 100, // ESC initialization period
"massToPeriod": [91.344803622, 0.0676439999, 0.0000557704991374891] // coeffs for cst, x and x²
},
"broadcastInterval": {
"osStatus": 10, // How frequently is the OS status broadcast?
"orientation": 0.2 // How frequently is the quad orientation broadcast?
},
"controller": {
"interval": 100, // Call the updater each XX ms
"updater": "dummy" // Default updater to use
},
"updaters": { // Updaters config
"dummy": {
"targetFactor": 0.2
},
"stabilize-simple": { // cst for PIDs: [k_P, k_I, k_D]
"rate": [0.001, 0, 0],
"stabilize": [2, 0.1, 0.1]
},
"rate-simple": {
"rate": [0.001, 0, 0]
},
"physics": {}
},
"server": {
"port": 3000 // HTTP server port
},
"camera": { // Camera setup - see https://www.raspberrypi.org/documentation/hardware/camera.md
"preview": {
"sharpness": 0,
"contrast": 0,
"brightness": 50,
"saturation": 0,
"ISO": null,
"vstab": false,
"ev": 0,
"exposure": "auto",
"awb": "auto",
"imxfx": "none",
"colfx": null,
"metering": null,
"rotation": null,
"hflip": false,
"vflip": false,
"shutter": null,
"drc": null,
"mode": 1,
"bitrate": null,
"width": 400,
"height": 400,
"framerate": 10,
"profile": "baseline"
},
"record": {
"sharpness": 0,
"contrast": 0,
"brightness": 50,
"saturation": 0,
"ISO": null,
"vstab": false,
"ev": 0,
"exposure": "auto",
"awb": "auto",
"imxfx": "none",
"colfx": null,
"metering": null,
"rotation": null,
"hflip": false,
"vflip": false,
"shutter": null,
"drc": null,
"mode": 1,
"width": null,
"height": null,
"bitrate": null,
"framerate": null
},
"previewWhenRecording": false
},
"debug": true
};