Fox G20 Like Configure
to run this software you must have the following packages:
-libconfig
-opencv
-ncruses5-dev
Like FoxG20 is software that includes a configuration file loaded at startup (config.cfg). Editing this file you can change some parameters of the program, how to enable various modules daisy pwm controller, the Kalman filter, etc...
In addition contains the definition of IP for comunication at GCS like.
#****************Comunication*********************/
ip_dest_addrs = "192.168.0.3" ;
ip_local_addrs = "192.168.0.2" ;
destination_port = 5050 ;
internal_port = 5051 ;
#/******************IMU***************************/
#//disable -> imu_type=0
#//daisy7 -> imu_type=1
#//xsense -> imu_type=2
imu_type = 1 ;
imu_port = "/dev/i2c-0" ;
#//for kalman use real time update or approssimation
#//1 real time , 0 fake time
update_rel_time = 1 ;
#//calibration data IMU daisy & kalman
overrwrite_bias = 0 ;
bias_gyrom_x = 0 ;
bias_gyrom_y = 0 ;
bias_gyrom_z = 0 ;
bias_accellm_x = 0 ;
bias_accellm_y = 0 ;
bias_accellm_z = 0 ;
bias_magm_x = 0 ;
bias_magm_y = 0 ;
bias_magm_z = 0 ;
#vor filter 1 enable 0 disabele
filter_vor = 1 ;
#linear acceleration suppressor sperimental
linear_acceleration_suppressor = 0 ;
linear_acceleration_suppressor_gain = 1.01 ;
#//kalman data
kalman_delta_time = 0.025668 ;
kalman_angle_variance = 0.107701688 ;
kalman_enable = 1 ;
#/**************pwm generator*********************/
#// disable-> pwm_type=0;
#// fox-board autogenerator -> pwm_type=1 //not implemented
#// ssc mini pololu-> pwm_type=2
#// ssc32 pololu-> pwm_type=3
enable_pwm_type = 3 ;
#//if ssc-> serial port
pwm_ssc_port = "/dev/ttyS2" ;
devicetimeout_ssc = 1 ;
#/***************video device********************/
#// 1 enable, 0 disable
enable_video_augmented_reality = 0 ;
hudheight = 120 ;
hudwidth = 160 ;
hudframerate = 30 ;
#/**********air data & sonar system**************/
#// 1 enable, 0 disable
enable_ultrasonic_altimeter = 0 ;
devicetimeout_altimeter = 7 ;
kalman_h_variance = 0.3 ;
#/******************GPS**************************/
#// 1 enable, 0 disable
enable_GPS = 0 ;
#/*******************UAV-Dynamics****************/
#//0 none
#//1 quadricopter example
dynamic_select = 1 ;
#/************************GLOBAL DATA *************************************/
#/*************Autopilot Mode****************/
#//1 manul
#//2 go_to
mode_autopilot = 1 ;
debug_mode = 0 ;
|