diff --git a/config/mrs_uav_system/f450.yaml b/config/mrs_uav_system/f450.yaml index cdbdd1f..3d7d8f7 100644 --- a/config/mrs_uav_system/f450.yaml +++ b/config/mrs_uav_system/f450.yaml @@ -51,6 +51,25 @@ mrs_uav_managers: constraint_manager: + # the f450 can not handler the "fast constraints" so we don't load it at all + constraints: [ + "slow", + "medium", + ] + + # list of allowed constraints per odometry mode + allowed_constraints: + gps_garmin: ["slow", "medium"] + gps_baro: ["slow", "medium"] + rtk: ["slow", "medium"] + aloam: ["slow"] + hector_garmin: ["slow"] + vio: ["slow"] + optflow: ["slow"] + other: ["slow"] + ground_truth: ["slow", "medium"] + passthrough: ["slow", "medium"] + default_constraints: gps_garmin: "medium" gps_baro: "medium" @@ -61,4 +80,3 @@ mrs_uav_managers: optflow: "slow" other: "slow" ground_truth: "medium" -