(
tasks: [
(
id: "vitfly_context",
type: "tasks::VitFlyContextAdapter",
logging: (enabled: true),
),
(
id: "vitfly_depth_rate",
type: "cu_ratelimit::CuRateLimit<cu_zed::ZedDepthMap>",
config: {"rate": 30.0},
logging: (enabled: true),
),
(
id: "vitfly",
type: "cu_vitfly::VitFlyTask",
config: {
"max_depth_m": 12.5,
"invalid_depth": 0.8,
},
logging: (enabled: true),
),
(
id: "vitfly_command",
type: "tasks::VitFlyCommandAdapter",
logging: (enabled: true),
),
],
bridges: [
(
id: "autonomy",
type: "autonomy_bridge::AutonomyBridge",
run_in_sim: false,
logging: (enabled: true),
config: {
"wire_format": "bincode",
"zenoh_config_json": r#"
{
mode: "peer",
listen: { endpoints: ["udp/0.0.0.0:7447"] },
}
"#,
},
channels: [
Rx(
id: "context",
route: "flight/autonomy/context",
),
Tx(
id: "command",
route: "flight/autonomy/command",
),
],
),
],
cnx: [
(
src: "zed",
dst: "__nc__",
msg: "cu_zed::ZedStereoImages",
),
(
src: "autonomy/context",
dst: "vitfly_context",
msg: "crate::messages::AutonomyContext",
),
(
src: "autonomy/context",
dst: "vitfly_command",
msg: "crate::messages::AutonomyContext",
),
(
src: "zed",
dst: "vitfly_depth_rate",
msg: "cu_zed::ZedDepthMap",
),
(
src: "vitfly_depth_rate",
dst: "vitfly",
msg: "cu_zed::ZedDepthMap",
),
(
src: "vitfly_context",
dst: "vitfly",
msg: "cu_ahrs::AhrsPose",
),
(
src: "vitfly_context",
dst: "vitfly",
msg: "cu29::units::si::f32::Velocity",
),
(
src: "vitfly",
dst: "vitfly_command",
msg: "cu_vitfly::VitFlyVelocity",
),
(
src: "vitfly_command",
dst: "autonomy/command",
msg: "crate::messages::AutonomyVelocityCommand",
),
(
src: "zed",
dst: "__nc__",
msg: "cu_zed::ZedConfidenceMap<Vec<f32>>",
),
(
src: "zed",
dst: "__nc__",
msg: "cu29::prelude::CuLatchedStateUpdate<cu_zed::ZedCalibrationBundle>",
),
(
src: "zed",
dst: "__nc__",
msg: "cu29::prelude::CuLatchedStateUpdate<cu_zed::ZedRigTransforms>",
),
(
src: "zed",
dst: "__nc__",
msg: "cu_sensor_payloads::ImuPayload",
),
(
src: "zed",
dst: "__nc__",
msg: "cu_sensor_payloads::MagnetometerPayload",
),
(
src: "zed",
dst: "__nc__",
msg: "cu_sensor_payloads::BarometerPayload",
),
(
src: "zed",
dst: "__nc__",
msg: "cu_zed::ZedFrameMeta",
),
],
logging: (
enable_task_logging: true,
slab_size_mib: 64,
section_size_mib: 8,
),
)