[Mini Quadrotor][Winch][Land][WIP] modify the takeoff/landing paramet…

…er and battery paramter for livox based winch landing
jsk-ros-pkg · Feb 18, 2024 · 75fafd2 · 75fafd2
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commit 75fafd2
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/robots/mini_quadrotor/config/Battery.yaml b/robots/mini_quadrotor/config/Battery.yaml
@@ -2,4 +2,4 @@ bat_info:
         bat_cell: 3
         bat_resistance: 0.05 # [m Ohm]
         hovering_current: 22 #[A]
-        low_voltage_thre: 6 #[100%]
+        low_voltage_thre: 2 #[100%]
diff --git a/robots/mini_quadrotor/config/NavigationConfig.yaml b/robots/mini_quadrotor/config/NavigationConfig.yaml
@@ -8,9 +8,11 @@ navigation:
   # Attitude Control Mode: 4
 
 
-  takeoff_height: 0.6 #1.0
+  takeoff_height: 0.8 #1.0
   outdoor_takeoff_height: 1.5
 
+  land_descend_vel: -0.1
+
   # teleop operation
   max_target_vel: 0.5
   joy_target_vel_interval: 0.005  # 0.2 / 20 = 0.01, 0.005 ~ 0.01  m/s