From 0c4cc932c0c8bd008c85b77f57653797611e9656 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Fri, 2 Feb 2024 16:19:32 +0100
Subject: [PATCH] added missing naki conf

---
 .../config/mrs_uav_system/naki.yaml           | 62 +++++++++++++++++++
 1 file changed, 62 insertions(+)
 create mode 100644 ros_packages/mrs_uav_gazebo_simulation/config/mrs_uav_system/naki.yaml

diff --git a/ros_packages/mrs_uav_gazebo_simulation/config/mrs_uav_system/naki.yaml b/ros_packages/mrs_uav_gazebo_simulation/config/mrs_uav_system/naki.yaml
new file mode 100644
index 0000000..548ba28
--- /dev/null
+++ b/ros_packages/mrs_uav_gazebo_simulation/config/mrs_uav_system/naki.yaml
@@ -0,0 +1,62 @@
+uav_mass: 7.5
+
+motor_params:
+  n_motors: 8
+  a:  0.24300
+  b: -0.17647
+
+# these model parameters can be used when
+# - 'control group', and/or
+# - 'actuator control'
+# are accepted by the HW API.
+model_params:
+
+  arm_length: 0.20 # [m]
+  body_height: 0.2 # [m]
+
+  propulsion:
+
+    # force [N] = force_constant * rpm^2
+    force_constant: 0.00000057658
+
+    # torque [Nm] = torque_constant * force [N]
+    torque_constant: 0.07
+
+    prop_radius: 0.13 # [m]
+
+    # allocation motors -> torques
+
+    # quadrotor X configuration
+    # hexarotor X configuration
+    # [roll torque,      [            [RPM_1^2,
+    #  pitch torque,  =    Alloc    *  RPM_2^2,
+    #  yaw torque,         Matrix       ...
+    #  thrust force]              ]    RPM_n_motors^2]
+    allocation_matrix: [
+      -0.707, 0.707, 0.707,  -0.707, 0.707, -0.707, -0.707, 0.707,  # *= force_constant*arm_length
+      -0.707, 0.707, -0.707, 0.707,  0.707, -0.707, 0.707,  -0.707, # *= force_constant*arm_length
+      -1,     -1,    1,      1,      1,     1,      -1,     -1,     # *= moment_constant*force_constant
+      1,      1,     1,      1,      1,     1,      1,      1,      # *= force_constant
+    ]
+
+    rpm:
+      min: 956  # [revolutions/minute]
+      max: 6376 # [revolutions/minute]
+
+mrs_uav_managers:
+
+  constraint_manager:
+
+    # list of allowed constraints per odometry mode
+    allowed_constraints:
+      gps_garmin: ["slow", "medium"]
+      gps_baro: ["slow", "medium"]
+      rtk: ["slow", "medium"]
+      rtk_garmin: ["slow", "medium"]
+      aloam: ["slow"]
+      hector_garmin: ["slow"]
+      vio: ["slow"]
+      optflow: ["slow"]
+      other: ["slow"]
+      ground_truth: ["slow", "medium"]
+      passthrough: ["slow", "medium"]