tuning.launch

<launch>
 <arg name="mav_name"  default="MTD"/>
 <rosparam command="load" file="controller2020.yml" ns="controller"/>
 <node name="rosflight_io"  pkg="rosflight"  type="rosflight_io" output="screen">
	<param name="port" value="/dev/ttyACM0"/>
 </node>
 <node name="uINS" pkg="inertial_sense" type="inertial_sense_node" output="screen">
  <param name="~port" value="/dev/uINS"/>

  <!-- WEBSTER FIELD -->
	  <!--
	<param name="~lat_ref" value="38.144692"/>
	<param name="~lon_ref" value="-76.428007"/>
	<param name="~h_ref" value="0.0"/>
-->

	<!-- Helwig Field Big, MD -->
	<!--
	<param name="~lat_ref" value="38.367192"/>
	<param name="~lon_ref" value="-76.523419"/>
	<param name="~h_ref" value="0.0"/>
	-->
	<!-- Helwig Field Small, MD -->
	<!--
	<param name="~lat_ref" value="38.3649293"/>
	<param name="~lon_ref" value="-76.5366214"/>
	<param name="~h_ref" value="0.0"/>
	-->
	<!-- Kawasaki field -->
	<param name="~lat_ref" value="40.174571"/>
	<param name="~lon_ref" value="-111.651641"/>
	<param name="~h_ref" value="1395"/>
	<!-- Rock Canyon-->
	<!--
	<param name="~lat_ref" value="40.2678966681"/>
	<param name="~lon_ref" value="-111.634524573"/>
	<param name="~h_ref" value="1395"/>
	-->
 </node>

 <node name="estimator" pkg="rosplane" type="rosplane_estimator" output="screen">
	<param name="~use_inertial_sense" type="bool" value="true"/>
	Kawasaki field
	<param name="~ins_lat_ref" value="40.174571"/>
	<param name="~ins_lon_ref" value="-111.651641"/>
	<param name="~ins_alt_ref" value="1395"/>
	<!--
	<param name="~lat_ref" value="40.2678966681"/>
	<param name="~lon_ref" value="-111.634524573"/>
	<param name="~alt_ref" value="1395"/>
	-->
 </node>

 <node name="controller" pkg="rosplane" type="rosplane_controller" output="screen">
 </node>
 <node name="path_follower" pkg="rosplane" type="rosplane_path_follower" output="screen"/>
 <node name="path_manager" pkg="rosplane" type="rosplane_path_manager" output="screen">
   <param name="~R_min" value="40.0" />
 </node>
 
 <node name="bag" pkg="rosbag" type="record" args="-o Mar31 -a -x '/camera/img/compressed'" output="screen"/>

</launch>