132 lines
2.3 KiB
YAML
132 lines
2.3 KiB
YAML
armor_detect_backend: tensorrt
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max_detect_armors: 11
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armor_map:
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SENTRY: 4
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NO1: 2
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NO2: 3
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NO3: 1
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NO4: 5
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NO5: 9
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OUTPOST: 6
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BASE: 7
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UNKNOWN: -1
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armor_where:
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yaw_opt:
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mode: golden
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golden_search_side_deg: 60
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distance_fix_a2: 0.0
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armor_tracker:
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lost_time_thres: 2.0
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tracking_thres: 10
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max_yaw_diff_deg: 60.0
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max_dis_diff: 3.0
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match_gate: 50
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qxyz_common: [200.0, 200.0, 1.0]
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qyaw_common: 100.0
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qxyz_output: [10.0, 10.0, 0.5]
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qyaw_output: 0.01
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q_r: 0.0000001
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q_l: 0.0000001
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q_h: 0.0000001
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q_outpost_dz: 0.5
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yp_r: 2e-3
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dis_r_front: 0.5
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dis_r_side: 2.5
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dis2_r_ratio: 0.1
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yaw_r_base_front: 0.2
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yaw_r_base_side: 0.06
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yaw_r_log_ratio: 0.02
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esekf_iter_num: 5
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auto_aim_fsm:
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single_whole_up: 1.5
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single_whole_down: 1.0
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whole_pair_up: 7.5
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whole_pair_down: 6.5 #1s内至少换2次板子 2pi 否则轨迹规划无意义
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pair_center_up: 16.5
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pair_center_down: 15.0
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transfer_thresh: 50
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very_aimer:
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fuck_test: false
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fuck_test_thresh: 0.5
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type: "seg" #seg or mpc
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sample_total_time: 2.0
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sample_horizon: 500
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control_delay: 0.2
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delay_enable_fire_error: 0.0035
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max_yaw_acc: 40
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#全向yaw加速度测算37
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max_pitch_acc: 25
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prediction_delay: 0.00
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comming_angle: 60
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leaving_angle: 20
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yaw_limit_deg: 60
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shooting_range_h: 0.12
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shooting_range_small_w: 0.12
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shooting_range_big_w: 0.24
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min_enable_pitch_deg: 0.25
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min_enable_yaw_deg: 0.25
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base_offset:
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yaw: -1.0
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pitch: -3.5
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trajectory_offset:
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- d_max: 3
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d_min: 0
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h_max: 1.5
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h_min: -1
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pitch_off: 0
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yaw_off: 0
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- d_max: 4.5
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d_min: 3
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h_max: 1.5
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h_min: -1
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pitch_off: 0
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yaw_off: 0
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- d_max: 4.5
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d_min: 9
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h_max: 1.5
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h_min: -1
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pitch_off: 0
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yaw_off: 0
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#---mpc only
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max_iter: 10
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Q_yaw: [7e6, 0]
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R_yaw: [3.0]
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Q_pitch: [7e6, 0]
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R_pitch: [3.0]
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trajectory_compensator:
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compenstator_type: resistance
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gravity: 9.8
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iteration_times: 20
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resistance: 0.092
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k1: 0.0190 #大弹丸double k1_c = 0.47; double k1 = k1_c * 1.169 * (2 * M_PI * 0.02125 * 0.02125) / 2 / 0.041;
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auto_exposure:
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enable: true
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target_brightness: 25.0
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tolerance: 3.0
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step_gain: 15.0
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decay_step: 1.0
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exposure_min: 100.0
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exposure_max: 1500.0
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control_interval_ms: 300
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