96 lines
3.4 KiB
INI
96 lines
3.4 KiB
INI
; Fire Gimbal Control - example configuration.
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;
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; Copy this file to "config.ini" and edit for your deployment:
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; cp config/config.example.ini config.ini
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;
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; The real config.ini is gitignored because it contains credentials.
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; MQTT credentials may instead be supplied via the environment variables
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; FGC_MQTT_USER and FGC_MQTT_PW, which take precedence over the values here.
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[General]
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; Tower identity, substituted into all MQTT topics and CamEvent payloads.
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tower_name = ExampleTower
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; Seconds between captures.
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image_interval = 5
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; 1 = print motor telemetry each loop tick, 0 = quiet.
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debug = 0
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[Network]
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; MQTT broker address (the ground-station / ZKMS server).
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zkms_server_ip = 127.0.0.1
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; Prefer the FGC_MQTT_USER / FGC_MQTT_PW environment variables over these.
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mqtt_user = CHANGE_ME
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mqtt_pw = CHANGE_ME
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[Camera]
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; Camera IDs: GigE IP (e.g. 192.168.11.101) or USB device ID (e.g. DEV_1AB22C0AADED).
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; Leave entries blank/absent for cameras you do not have. Order maps to RGB, ACR, NIR.
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id_Cam1 = DEV_0000000000
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id_Cam2 =
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id_Cam3 =
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id_Cam4 =
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[Serial]
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; Motor-controller serial device and baud rate.
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device = /dev/ttyACM0
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baud = 115200
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[Motor]
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; Degrees<->encoder-counts calibration for each axis. The firmware speaks only
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; in absolute encoder counts; these map them to the heading/elevation degrees
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; used by MQTT (target_HDG) and CamEvent. CALIBRATE on the rig after homing:
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; counts = zero_count + deg * counts_per_deg
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; counts_per_deg may be negative to flip direction. min/max_deg clamp commands.
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; Yaw starting point: firmware steps_per_rev=177000 over ~180 deg => ~983.33.
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yaw_counts_per_deg = 983.33
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yaw_zero_count = 500000
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yaw_min_deg = -90
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yaw_max_deg = 90
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; Pitch (physical endstops, ~0..60 deg). CALIBRATE counts_per_deg/zero_count.
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pitch_counts_per_deg = 8333.33
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pitch_zero_count = 0
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pitch_min_deg = 0
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pitch_max_deg = 60
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[Scan]
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; Capture scan grid (the (yaw,pitch) waypoints auto-sweep steps through).
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; If grid_file is set, that CSV is used verbatim (one "yaw_deg,pitch_deg" per
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; line, '#' comments allowed) - edit it to define exact scan coordinates.
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; If grid_file is blank, a grid is generated: yaw_intervals positions across
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; [yaw_min_deg, yaw_max_deg] at each pitch level, traversed ping-pong.
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grid_file =
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yaw_intervals = 56
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yaw_min_deg = -90
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yaw_max_deg = 90
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pitch_levels = 10,30,50
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[Paths]
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; Directory for saved .jxl images. Supports leading ~ and $ENV expansion.
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; If blank, defaults to $XDG_DATA_HOME/fire_gimbal_control/images
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; (i.e. ~/.local/share/fire_gimbal_control/images).
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output_dir =
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[Features]
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; Enable/disable subsystems and select mock (simulated) implementations.
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; CLI flags (e.g. --no-mqtt, --mock-camera, --mock-serial) override these.
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enable_mqtt = true
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enable_camera = true
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enable_serial = true
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mock_camera = false
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mock_serial = false
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[UI]
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; Full-screen terminal dashboard (sectioned, colored, live status + log pane).
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; false => headless line console (default; stdin commands, stdout logs).
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; CLI --tui / --no-tui override this. Requires a build with WITH_TUI=ON.
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enable_tui = false
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[Logging]
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; level: trace|debug|info|warn|error|off (default info). --log-level overrides.
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level = info
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; Verbatim per-category wire tracing, independent of the level above. Comma list
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; of: serial, mqtt, camera, control, all, none. OFF by default. --trace overrides.
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; Lines are tagged [SERIAL]/[MQTT]/[CAMERA]/[CONTROL] with TX/RX direction, e.g.
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; [SERIAL] TX kd180 / [SERIAL] RX $;1234;0;...
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trace =
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