77 lines
1.4 KiB
YAML
77 lines
1.4 KiB
YAML
rune_detector:
|
|
rune_center_min_area: 10
|
|
rune_center_max_area: 2000
|
|
rune_center_1x1ratio_tol: 0.7
|
|
rune_center_fill_ratio_min: 0.3
|
|
|
|
rune_target_min_area: 100
|
|
rune_target_max_area: 3000
|
|
rune_target_max_square_ratio: 1.3
|
|
rune_target_cluster_radius: 70
|
|
|
|
bin_threshold: 50
|
|
color_diff_threshold: 40
|
|
|
|
|
|
rune_where:
|
|
roll_opt:
|
|
mode: golden
|
|
golden_search_side_deg: 60
|
|
|
|
rune_tracker:
|
|
lost_time_thres: 2.0
|
|
tracking_thres: 5
|
|
max_dis_diff: 1.0
|
|
match_gate: 15.0
|
|
esekf_iter_num: 2
|
|
q_roll: 10.0
|
|
q_xyz: 0.5
|
|
q_yaw: 0.5
|
|
yp_r: 0.01
|
|
dis_r: 0.05
|
|
yaw_r: 0.1
|
|
roll_r: 0.2
|
|
big_window_sec: 2.0
|
|
|
|
aimer:
|
|
prediction_delay: -0.00
|
|
shooting_range_h: 0.1
|
|
shooting_range_w: 0.1
|
|
min_enable_pitch_deg: 0.25
|
|
min_enable_yaw_deg: 0.25
|
|
base_offset:
|
|
yaw: -3.0
|
|
pitch: -0.0
|
|
trajectory_offset:
|
|
- d_max: 9
|
|
d_min: 0
|
|
h_max: 1.5
|
|
h_min: -1
|
|
pitch_off: -0
|
|
yaw_off: -0
|
|
- d_max: 10
|
|
d_min: 9
|
|
h_max: 0.4
|
|
h_min: -1
|
|
pitch_off: -0
|
|
yaw_off: 0
|
|
|
|
trajectory_compensator:
|
|
compenstator_type: resistance
|
|
gravity: 9.8
|
|
iteration_times: 20
|
|
resistance: 0.092
|
|
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;
|
|
|
|
|
|
|
|
auto_exposure:
|
|
enable: false
|
|
target_brightness: 15.0
|
|
tolerance: 3.0
|
|
step_gain: 15.0
|
|
decay_step: 1.0
|
|
exposure_min: 100.0
|
|
exposure_max: 2500.0
|
|
control_interval_ms: 300
|