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config-byo-tilta.yaml
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geometry: MovingMirror
kalman_filter_parameters:
motion_noise: 3.0
observation_noise: 0.0001
kalman_filter_dist_parameters:
# Motion noise [m/s2] for constant-speed dynamic model is
# root-mean-square of (unknown random) acceleration [m/s2].
# flying animals have thrust to mass ratios anywhere between
# circa 11 and 50 m/s2 [doi: 10.1098/rsos.160746]. Honey bees
# are probably around 17 m/s2.
motion_noise: 20
# rms measurement noise at 1 meter; this is internally scaled
# according to stereopsis law (i.e., multiplied by r^2)
observation_noise: 0.0005
control_loop_timestep_secs: 0.001
kp_pan_angle: 0.0
kp_tilt_angle: 0.0
ki_pan_angle: 20.0
ki_tilt_angle: 15.0
centroid_to_sensor_x_angle_func:
dx_gain: 0.000138 # 3.45 um / 25mm (px pitch / focal length)
dy_gain: 0.0
offset: 0.0
centroid_to_sensor_y_angle_func:
dx_gain: 0.0
dy_gain: -0.000138
offset: 0.0
pan_motor_config:
endpoint_low: -3.14
endpoint_high: 3.14
neutral_position: 0.0
tilt_motor_config:
endpoint_low: -1.5
endpoint_high: 1.5
neutral_position: 0.0
pan_trinamic_config:
microsteps_per_radian: 117437.6
tilt_trinamic_config:
microsteps_per_radian: 20371.8
# microsteps_per_radian: 40764.3 this refers to mirror angles
focus_motor_config:
motor: !Tilta
port: COM10
min_pos: 0.0
max_pos: 4095.0
pos_offset: -5.5 # [mot]
adjust_step: 1.0 # [mot]
park_position: 5.5 # [mot]
home_position: 2.0 # [m]
backlash: 11.0
noise_gate: 2.0
cal:
distance_offset: 0.267
#mot_pos = a0 + a1/r^1 + a2/r^2 + a3/r^3
a0: 81.403
a1: 589.14
a2: 108.331
a3: 0.0
min_dist: 0.3
max_dist: 1e6
tracking_thresholds:
msecs_to_suspend: 1000 # how long to keep tracking the lost animal with estimated velocity, before switching to SuspendedClosedLoop (staring at the last observation)
msecs_to_acquire_lock: 30000 # how long to stay in SuspendedClosedLoop before centering
# motor_timeconstant (s) needs to be larger than main loop dt
# if motor_timeconstant_secs=dt (=.001), the estimated motor position is the
# current motor command
motor_timeconstant_secs: .01
#stereopsis parameters
secondary_cam_name: Basler-40300216
stereopsis_calib:
r1_m: 2.546
x_offset_1_px: -8.8
r2_m: 25.9
x_offset_2_px: -113.3
pixel_size_um: 3.4