config.ini 1.4 KB

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  1. # size of the trackable area
  2. [field]
  3. # width in mm
  4. x = 390
  5. # height in mm
  6. y = 395
  7. [arduino]
  8. # leave port empty for auto config
  9. # port =
  10. port = /dev/ttyACM0
  11. # acoustic sensor config
  12. [ac_sensor]
  13. # distance of the sensors in front of y=0 in mm
  14. y_offset = 50
  15. # left sensor x offset to the left border at x=0 in mm
  16. left_x_offset = 0
  17. # right sensor x offset to the right border at x=width in mm
  18. right_x_offset = 0
  19. # positions [(x,y1), (x,y2)] at which the calibration takes place in mm
  20. calibration_y_offset_1 = 100
  21. calibration_y_offset_2 = 395
  22. calibration_x_offset = 195
  23. # default speed of sound in mm / us (or km / s)
  24. # only used before calibration
  25. sonicspeed = 0.342
  26. # default arduino timing overhead in us
  27. # only used before calibration
  28. overhead_left = 20
  29. overhead_right = 20
  30. [mag_sensor]
  31. # amount of measurements used for the calibration of the Gyroscope and the Accelerometer
  32. measurements_gyro = 500
  33. measurements_accel = 1000
  34. [opt_sensor]
  35. capture_device = -1
  36. debug_image = yes
  37. # distance between center of fiducials in mm
  38. target_distance = 55
  39. # x offset when target is in the center of camera (at offset=50%) in mm
  40. x_offset = 195
  41. # horizontal FoV of the camera in °
  42. # RaspiCam datasheet: https://www.raspberrypi.org/documentation/hardware/camera/
  43. fov = 53.50
  44. [gui]
  45. fullscreen = yes
  46. log_lines = 100