From 764ea3822aea95ad24dd55229b828d22f4e4c5a0 Mon Sep 17 00:00:00 2001
From: Louis-Guillaume DUBOIS <contact@lgdubois.fr>
Date: Fri, 24 Apr 2015 18:18:52 +0200
Subject: [PATCH] set good parameters in ardrone.launch

---
 hand_control/launch/ardrone.launch | 65 +++++++++++++++++++-----------
 1 file changed, 41 insertions(+), 24 deletions(-)

diff --git a/hand_control/launch/ardrone.launch b/hand_control/launch/ardrone.launch
index 00328b0..40d898c 100644
--- a/hand_control/launch/ardrone.launch
+++ b/hand_control/launch/ardrone.launch
@@ -1,27 +1,44 @@
-<!-- This is a sample lanuch file, please change it based on your needs -->
+<!-- cf ARDrone Developer Guide -->
 <launch>
-	<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
-	    <param name="outdoor" value="1" />
-	    <param name="max_bitrate" value="4000" />
-	    <param name="bitrate" value="4000" />
-	    <param name="navdata_demo" value="0" />
-	    <param name="flight_without_shell" value="0" />
-	    <param name="altitude_max" value="3000" />
-        <param name="altitude_min" value="50" />
-        <param name="euler_angle_max" value="0.21" />
-        <param name="control_vz_max" value="700" />
-	    <param name="control_yaw" value="1.75" />
-	    <param name="detect_type" value="10" />
-	    <param name="enemy_colors" value="3" />
-	    <param name="detections_select_h" value="32" />
-	    <param name="detections_select_v_hsync" value="128" />
-	    <param name="enemy_without_shell" value="0" />
-	    <param name="do_imu_caliberation" value="false" />
-	    <param name="tf_prefix" value="mydrone" />
-        <!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
-        <rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
-        <rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
-        <rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
-	</node>
+  <node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
+
+    <!-- indoor -->
+    <param name="outdoor" value="0" />
+
+    <param name="max_bitrate" value="4000" />
+    <param name="bitrate" value="4000" />
+
+    <!-- 0 : drone sends a reduced set
+    of navigation data (without debugging info) -->
+    <param name="navdata_demo" value="0" />
+
+    <param name="flight_without_shell" value="0" />
+    
+    <!-- in mm -->
+    <param name="altitude_max" value="2000" /><!-- 2 m -->
+    <param name="altitude_min" value="50" />
+
+    <!-- in radians,  between 0. and 0.52 (30°) -->
+    <param name="euler_angle_max" value="0.21" /> 
+
+    <!-- maximum vertical speed, in mm/s -->
+    <!-- between 200 and 2000 -->
+    <param name="control_vz_max" value="700" />
+
+    <!-- maximum yaw speed, in radians/s -->
+    <!-- betwenn 0.7 and 6.11 -->
+    <param name="control_yaw" value="1.75" />
+
+
+    <!-- ROS driver parameters -->
+      <param name="do_imu_caliberation" value="false" />
+      <param name="tf_prefix" value="mydrone" />
+      <!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
+      <!--
+      <rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
+      <rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
+      <rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
+      -->
+  </node>
 </launch>