1 # Common configuration for PX4 autopilot
4 startup_px4_usb_quirk: true
6 # --- system plugins ---
8 # sys_status & sys_time connection options
10 heartbeat_rate: 1.0 # send hertbeat rate in Hertz
11 timeout: 10.0 # hertbeat timeout in seconds
12 timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
13 system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)
17 min_voltage: 10.0 # diagnostics min voltage
18 disable_diag: false # disable all sys_status diagnostics, except heartbeat
22 time_ref_source: "fcu" # time_reference source
23 timesync_mode: MAVLINK
24 timesync_avg_alpha: 0.6 # timesync averaging factor
26 # --- mavros plugins (alphabetical order) ---
30 low_rssi: 40 # raw rssi lower level for diagnostics
37 use_comp_id_system_control: false # quirk for some old FCUs
47 frame_id: "map" # origin frame
48 child_frame_id: "base_link" # body-fixed frame
49 rot_covariance: 99999.0 # covariance for attitude?
50 gps_uere: 1.0 # User Equivalent Range Error (UERE) of GPS sensor (m)
51 use_relative_alt: true # use relative altitude for local coordinates
53 send: false # send TF?
54 frame_id: "map" # TF frame_id
55 global_frame_id: "earth" # TF earth frame_id
56 child_frame_id: "base_link" # TF child_frame_id
61 # need find actual values
62 linear_acceleration_stdev: 0.0003
63 angular_velocity_stdev: !degrees 0.02
64 orientation_stdev: 1.0
73 child_frame_id: "base_link"
77 # None, used for FCU params
84 p1: {x: 1.0, y: 1.0, z: 1.0}
85 p2: {x: -1.0, y: -1.0, z: -1.0}
93 reverse_thrust: false # allow reversed thrust
94 use_quaternion: false # enable PoseStamped topic subscriber
96 listen: false # enable tf listener (disable topic subscribers)
98 child_frame_id: "target_attitude"
104 listen: false # enable tf listener (disable topic subscribers)
106 child_frame_id: "target_position"
119 pull_after_gcs: true # update mission if gcs updates
121 # --- mavros extras plugins (same order) ---
130 ## Currently available orientations:
131 # Check http://wiki.ros.org/mavros/Enumerations
136 frame_id: "hrlv_ez4_sonar"
137 orientation: PITCH_270 # RPY:{0.0, 270.0, 0.0} - downward-facing
138 field_of_view: 0.0 # XXX TODO
140 sensor_position: {x: 0.0, y: 0.0, z: -0.1}
143 frame_id: "lidarlite_laser"
144 orientation: PITCH_270
145 field_of_view: 0.0 # XXX TODO
147 sensor_position: {x: 0.0, y: 0.0, z: -0.1}
151 orientation: PITCH_270
155 orientation: PITCH_270
164 use_mocap: true # ~mocap/pose
165 mocap_transform: true # ~mocap/tf instead of pose
166 use_vision: false # ~vision (pose)
167 # origin (default: Zürich)
169 lat: 47.3667 # latitude [degrees]
170 lon: 8.5500 # longitude [degrees]
171 alt: 408.0 # altitude (height over the WGS-84 ellipsoid) [meters]
174 satellites_visible: 5 # virtual number of visible satellites
175 fix_type: 3 # type of GPS fix (default: 3D)
178 send: true # send TF?
179 frame_id: "map" # TF frame_id
180 child_frame_id: "fix" # TF child_frame_id
181 rate_limit: 10.0 # TF rate
182 gps_rate: 5.0 # GPS data publishing rate
184 # mocap_pose_estimate
186 # select mocap source
187 use_tf: false # ~mocap/tf
188 use_pose: true # ~mocap/pose
193 # available: check MAV_FRAME odometry local frames in
194 # http://mavlink.org/messages/common
195 local_frame: "vision_ned"
196 # available: ned, frd or flu (though only the tf to frd is supported)
197 body_frame_orientation: "frd"
202 ranger_fov: !degrees 6.8 # 6.8 degreens at 5 meters, 31 degrees at 1 meter
203 ranger_min_range: 0.3 # meters
204 ranger_max_range: 5.0 # meters
206 # vision_pose_estimate
209 listen: false # enable tf listener (disable topic subscribers)
211 child_frame_id: "vision_estimate"
214 # vision_speed_estimate
216 listen_twist: true # enable listen to twist topic, else listen to vec3d topic
217 twist_cov: true # enable listen to twist with covariance topic
221 frame_id: "base_link"
223 # vim:set ts=2 sw=2 et: