55 lines
750 B
TOML
55 lines
750 B
TOML
[controller]
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# linear: 世界系位置 PID + 姿态内环
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# geometric: SE(3) 几何位置控制 + 四元数姿态内环
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mode = "geometric"
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max_tilt = 0.35 # rad，仅 linear 外环限幅
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[position.linear]
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kp = 8.8
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ki = 0.2
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kd = 0.9
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[position.geometric]
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kp = 2.5
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ki = 0.4
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kd = 2.0
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[attitude.linear]
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kp = 8.0
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ki = 0.5
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kd = 0.6
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[attitude.geometric]
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kp = 10.0
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ki = 0.8
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kd = 0.8
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[eval]
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initial_height = 2.0
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[eval.hover]
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duration = 8.0
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[eval.step]
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step_time = 2.0
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duration = 12.0
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step_z = 3.0
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step_x = 3.0
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step_y = 2.0
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[eval.takeoff_forward]
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ground_z = 0.0
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hover_z = 2.0
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forward_x = 4.0
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takeoff_time = 3.0
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hover_time = 2.0
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forward_time = 6.0
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[eval.circle]
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ground_z = 0.0
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takeoff_time = 2.0
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radius = 2.5
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height = 2.0
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period = 10.0
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duration = 20.0
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