From 9f723e09ee96de08ec6f6d5056055675936034e4 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Fri, 20 Oct 2023 15:33:19 +0200
Subject: [PATCH] updated f450 constraints

---
 config/mrs_uav_system/f450.yaml | 20 +++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

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"
-