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---
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# local frame must be given in utm coordinates
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local_frame:
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east: &local_frame_east 360284.0
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north: &local_frame_north 4813595.0
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alt: &local_frame_alt 0.0
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utm_zone: &local_frame_utm_zone 31N
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# flight area in local coordinates
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flight_area: &flight_area [[-1000.0, -5000.0, -100.0], [15000.0, 5000.0, 4000.0]]
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# allow_warm_start: True
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allow_warm_start: False
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# database config
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database:
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enable_save: True
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filepath: '/PATH/TO/database01.neph'
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overwrite_existing: True
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mesonh_files: &mesonh_files '/PATH/TO/REFHR.1.ARMCu.4D.nc'
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# Setting this to true will activate feedback to WORLD_ENV requests
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# Do not pass it to True : NOT WORKING...
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wind_feedback: False
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# Setting this value forces the mesonh variables to read only this time
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mesonh_fixed_time: &mesonh_fixed_time 92
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# WindMap is constant => no wind here [0, 0]
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wind_map:
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type: 'WindMapConstant'
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name: 'Horizontal Wind'
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wind: [-0.0, 0.0]
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# DataViews
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data_views:
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# View of liquid water content (data from Mesonh)
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humidity:
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type: 'FetchView'
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name: 'Humidity'
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tags: ['RCT']
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displayable: true
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# View of vertical wind (data from Mesonh)
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verticalWind:
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type: 'FetchView'
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name: 'Vertical Wind'
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tags: ['WT']
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displayable: true
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# View of temperature (data from Mesonh)
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temperature:
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type: 'FetchView'
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name: 'Temperature'
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tags: ['THT']
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displayable: true
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# View of altitude (data from the autopilot / registered data)
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altitude:
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type: 'StatusView'
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name: 'Altitude'
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tags: null
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displayable: true
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# View of time (since the task has started / registered data)
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time:
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type: 'StatusView'
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name: 'Time'
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info: 'time'
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tags: null
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displayable: true
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# Play with the mesonh origin if you want to have a cloud near your standby
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# position [t, x, y ,z]
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mesonh_origin: &mesonh_origin [460.0, -1400.0, -3000.0, -280.0]
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# Default fields. Used to define yaml aliases, to define values in one single place.
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defaults:
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start: &start_defaults
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- Length: [3]
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- SimpleBounds: [*flight_area]
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circle_radius:
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- &circle_radius_min 80.0
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- &circle_radius_max 500.0
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- defaults: &circle_radius_defaults
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- DefaultValue: [120.0]
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- SimpleBounds: [[*circle_radius_min, *circle_radius_max]]
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altitude:
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- &altitude_min 185.0
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- &altitude_max 4000.0
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- defaults: &altitude_defaults
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- SimpleBounds: [[-1000.0, 4000.0]]
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drift:
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- &xdrift_min -10.0
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- &xdrift_max 10.0
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- &ydrift_min -10.0
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- &ydrift_max 10.0
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- &zdrift_min -3.0
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- &zdrift_max 3.0
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- drift: &drift_defaults
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- DefaultValue: [[0.0,0.0,0.0]]
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- Length: [3]
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- SimpleBounds: [[[*xdrift_min, *ydrift_min, *zdrift_min],
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[*xdrift_max, *ydrift_max, *zdrift_max]]]
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- hdrift: &hdrift_defaults
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- Length: [2]
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- SimpleBounds: [[[*xdrift_min, *ydrift_min],
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[*xdrift_max, *ydrift_max]]]
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- zdrift: &zdrift_defaults
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- SimpleBounds: [[*zdrift_min, *zdrift_max]]
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lace: &lace_defaults
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parameters:
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start: *start_defaults
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first_turn_direction:
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- DefaultValue: [1.0]
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- AllowedValues: [[-1.0, 1.0]]
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circle_radius: *circle_radius_defaults
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drift: *drift_defaults
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updatables:
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hdrift: *hdrift_defaults
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zdrift: *zdrift_defaults
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rosette: &rosette_defaults
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parameters:
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start: *start_defaults
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first_turn_direction:
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- DefaultValue: [1.0]
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- AllowedValues: [[-1.0, 1.0]]
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circle_radius: *circle_radius_defaults
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drift: *drift_defaults
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updatables:
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hdrift: *hdrift_defaults
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zdrift: *zdrift_defaults
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spiral3d: &spiral3d_defaults
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parameters:
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start: *start_defaults
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alt_stop: *altitude_defaults
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radius_start: *circle_radius_defaults
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radius_stop: *circle_radius_defaults
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drift: *drift_defaults
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updatables:
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hdrift: *hdrift_defaults
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zdrift: *zdrift_defaults
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trinity: &trinity_defaults
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parameters:
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start: *start_defaults
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first_turn_direction:
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- DefaultValue: [1.0]
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- AllowedValues: [[-1.0, 1.0]]
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circle_radius: *circle_radius_defaults
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drift: *drift_defaults
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updatables:
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hdrift: *hdrift_defaults
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zdrift: *zdrift_defaults
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# List of possible UAVS : 200, 201, 202, 203, 204
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# Configuration given :
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# - Autopilot : Paparazzi
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# - No replay
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aircrafts:
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200:
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replay: false
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type: 'pprz'
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plugins:
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- MesonhProbe:
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mesonhFiles: *mesonh_files
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mesonhVariables: ['RCT', 'RRT', 'WT', 'THT', ['UT','VT']]
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rctFeedback: True
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mesonhOrigin: *mesonh_origin
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fixTime: *mesonh_fixed_time
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- Missions:
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backup_file: '/PATH/TO/backup_200.bin'
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Lace: *lace_defaults
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Rosette: *rosette_defaults
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Spiral3D: *spiral3d_defaults
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Trinity: *trinity_defaults
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- CloudCenterTracker:
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mapWhereCenterIs: 'LWC'
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- MissionWindUpdater:
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period: 10.0
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- Monitor
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201:
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replay: false
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type: 'pprz'
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plugins:
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- MesonhProbe:
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mesonhFiles: *mesonh_files
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mesonhVariables: ['RCT', 'RRT', 'WT', 'THT', ['UT','VT']]
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rctFeedback: True
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mesonhOrigin: *mesonh_origin
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fixTime: *mesonh_fixed_time
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- Missions:
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backup_file: '/PATH/TO/backup_201.bin'
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Lace: *lace_defaults
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Rosette: *rosette_defaults
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Spiral3D: *spiral3d_defaults
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Trinity: *trinity_defaults
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- CloudCenterTracker:
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mapWhereCenterIs: 'LWC'
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- MissionWindUpdater:
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period: 10.0
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- Monitor
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maps:
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kernels:
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lwc_kernel:
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type: 'WindKernel'
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length_scales: [120.0, 60.0, 60.0, 60.0]
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variance: 1.0e-8
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noise_variance: 1.0e-10
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LWC:
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name: 'Liquid Water Cyan'
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type: 'GprMap'
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kernel: 'lwc_kernel'
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data_view: 'humidity'
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data_range: [0.0, 1.0e-4]
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threshold: 2.0e-4
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std_map: 'Liquid Water std' # optional
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border_map: 'Liquid Water border' # optional
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clouds:
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name: 'Liquid Water (MesoNH)'
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type: 'MesonhMap'
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mesonh_variable: 'RCT'
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origin: *mesonh_origin
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