169 lines
6.8 KiB
INI
169 lines
6.8 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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[IMU]
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; Xsens MTi orientation/inertial sensor. Wired to the LattePanda's RS-232 header
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; (an onboard hardware UART), so this is a stable /dev/ttyS* node - NOT a USB
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; device and NOT /dev/ttyUSB0-3 (those are the Quectel modem). Find it with
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; ls /dev/ttyS* ; dmesg | grep -iE 'ttyS|LPSS|HSUART' (often /dev/ttyS4)
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; Enable with [Features] enable_imu = true. The host reconfigures the MTi to a
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; Euler + calibrated 100 Hz stream at startup.
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device =
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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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;
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; Mechanical travel of this gimbal (between hard endstops, found at homing):
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; Yaw ~320 deg (0 .. 320; NOT a full revolution, cannot wrap)
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; Pitch 40 deg (-10 .. +30; -10 below horizon to +30 above)
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; Keep all scan waypoints inside these ranges or the move clamps short.
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;
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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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; Re-anchor the yaw zero from homing instead of the fixed yaw_zero_count above:
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; off (default) - use yaw_zero_count as written
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; low - the lower-count endstop becomes 0 deg, degrees rise toward
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; the higher-count endstop (which lands near +360)
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; high - the higher-count endstop becomes 0 deg, degrees rise toward
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; the lower-count endstop (which lands near +360)
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; Keeps yaw_counts_per_deg as the scale; only the zero + direction come from the
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; homed endstops, so the yaw origin is fixed by homing (no zero recalibration).
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; yaw_min_deg/yaw_max_deg are auto-set to 0..(homed range). Pitch is unaffected.
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yaw_home_zero = off
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; Pitch (physical endstops, -10..+30 deg = 40 deg travel). 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 = -10
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pitch_max_deg = 30
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; Live encoder-tracking WARN: log a warning when an axis's |xactual - xenc|
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; exceeds this many counts (positional slip). 0 disables. Default 400 sits above
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; the firmware hold deadband (200) and below the DIAG peak limit (500).
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enc_error_warn_counts = 400
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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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enable_imu = false
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mock_camera = false
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mock_serial = false
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mock_imu = false
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[Test]
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; Hardware self-test command (`test`). `profile` is the default profile used when
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; none is named on the command line. `baseline_file` is where `test baseline` pins
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; a golden report (empty => <logdir>/test_baseline.txt). Each [TestProfile.*] is a
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; named bundle of repetition counts, sampling windows and pass thresholds; modules
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; read the keys they need (unknown keys are ignored, so new tests can add knobs
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; here without code changes).
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profile = standard
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baseline_file =
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[TestProfile.standard]
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reps = 5 ; repetitions for homing / friction / balance
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drift_warn_pct = 15 ; flag a metric drifting more than this vs baseline
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drift_gates_pass = false ; true => a drift flag also fails the metric
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home_spread_max_counts = 80 ; max endstop-count spread across homings
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home_ms_min = 4000 ; expected homing-time band (ms)
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home_ms_max = 20000
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encoder_diag_reps = 2
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imu_sample_window_ms = 3000 ; static window for IMU health
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imu_drift_window_ms = 60000 ; long static window for the yaw-drift fit
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imu_yaw_noise_max_deg = 0.5
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imu_yaw_drift_max_deg_min = 1.0
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imu_expected_hz = 100
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; imu_expected_profile = VRU_general ; assert the active XKF profile, if set
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backlash_step_counts = 200,500,1000 ; small steps probing reversal dead-band
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balance_steps = 10 ; pitch up/down current-profile resolution
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balance_asym_max = 4 ; max |up-down| current (CS) before "imbalanced"
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cpu_temp_max_c = 85
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disk_free_min_gb = 5
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ram_avail_min_mb = 256
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[TestProfile.quick]
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reps = 3
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imu_sample_window_ms = 1000
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imu_drift_window_ms = 10000
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[TestProfile.strict]
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reps = 10
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drift_warn_pct = 8
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drift_gates_pass = true
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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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