/
drone_config.json
89 lines (89 loc) · 2.24 KB
/
drone_config.json
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{
"name": "DroneAvator",
"simulation": {
"lockstep": true,
"timeStep": 0.003,
"logOutputDirectory": "./",
"logOutput": {
"sensors": {
"acc": true,
"gyro": true,
"mag": true,
"baro": true,
"gps": true
},
"mavlink": {
"hil_sensor": true,
"hil_gps": true,
"hil_actuator_controls": true
}
},
"mavlink_tx_period_msec": {
"hil_sensor": 3,
"hil_gps": 3
},
"location": {
"latitude": 47.641468,
"longitude": -122.140165,
"altitude": 121.321,
"magneticField": {
"intensity_nT": 53045.1,
"declination_deg": 15.306,
"inclination_deg": 68.984
}
}
},
"components": {
"droneDynamics": {
"physicsEquation": "BodyFrame",
"collision_detection": true,
"manual_control": false,
"airFrictionCoefficient": [ 0.0001, 0.0 ],
"inertia": [ 0.0000625, 0.00003125, 0.00009375 ],
"mass_kg": 0.1,
"body_size": [ 0.1, 0.1, 0.01 ],
"position_meter": [ 0, 0, 0 ],
"angle_degree": [ 0, 0, 0 ]
},
"rotor": {
"vendor": "None",
"Tr": 0.05,
"Kr": 8000,
"rpmMax": 8000
},
"thruster": {
"vendor": "None",
"rotorPositions": [
{"position": [ 0.05, 0.05, 0 ], "rotationDirection": 1.0 },
{"position": [ -0.05, -0.05, 0 ], "rotationDirection": 1.0 },
{"position": [ 0.05, -0.05, 0 ], "rotationDirection": -1.0 },
{"position": [ -0.05, 0.05, 0 ], "rotationDirection": -1.0 }
],
"HoveringRpm": 4000,
"parameterB": 1.3e-10,
"parameterJr": 1.0e-10
},
"sensors": {
"acc": {
"sampleCount": 1,
"noise": 0.03
},
"gyro": {
"sampleCount": 1,
"noise": 0.01
},
"mag": {
"sampleCount": 1,
"noise": 0.03
},
"baro": {
"sampleCount": 1,
"noise": 0.01
},
"gps": {
"sampleCount": 1,
"noise": 0
}
}
}
}