# =============================================================================
# DRONE CONFIGURATION
# =============================================================================

DRONE = {
    # Physical properties
    "mass": 1.0,              # kg
    "size": (0.3, 0.3, 0.1),  # (width, depth, height) in meters
    "color": (0.8, 0.1, 0.1, 1.0),  # RGBA (red)
    
    # Starting position
    "start_position": (0.0, 0.0, 5.0),  # (x, y, z) in meters
    
    # Control limits
    "max_thrust": 1.0,   # Maximum thrust command (-1 to 1)
    "max_pitch": 0.5,    # Maximum pitch command
    "max_roll": 0.5,     # Maximum roll command
    "max_yaw": 1.0,      # Maximum yaw command
    
    # Thrust/torque scaling
    "thrust_scale": 15.0,      # Force multiplier for thrust
    "pitch_torque_scale": 2.0, # Torque multiplier for pitch
    "roll_torque_scale": 2.0,  # Torque multiplier for roll
    "yaw_torque_scale": 1.0,   # Torque multiplier for yaw
}

# =============================================================================
# ROVER (LANDING PAD) CONFIGURATION
# =============================================================================

ROVER = {
    # Physical properties
    "size": (1.0, 1.0, 0.3),  # (width, depth, height) in meters
    "color": (0.2, 0.6, 0.2, 1.0),  # RGBA (green)
    
    # Starting position
    "start_position": (0.0, 0.0, 0.15),  # (x, y, z) in meters
    
    # Movement patterns (for RoverController)
    "default_pattern": "stationary",  # stationary, linear, circular, square, random
    "default_speed": 0.5,             # m/s
    "default_amplitude": 2.0,         # meters (radius for circular, half-width for others)
}

# =============================================================================
# CAMERA CONFIGURATION
# =============================================================================

CAMERA = {
    "width": 320,
    "height": 240,
    "fov": 60.0,           # Field of view in degrees
    "near_clip": 0.1,      # Near clipping plane
    "far_clip": 100.0,     # Far clipping plane
    "jpeg_quality": 70,    # JPEG compression quality (1-100)
}

# =============================================================================
# PHYSICS CONFIGURATION
# =============================================================================

PHYSICS = {
    "gravity": -9.81,            # m/s² (negative = downward)
    "timestep": 1.0 / 240.0,     # Physics timestep (240 Hz)
    "telemetry_rate": 24,        # Telemetry updates per second
}

# =============================================================================
# NETWORK CONFIGURATION
# =============================================================================

NETWORK = {
    "host": "0.0.0.0",     # Listen on all interfaces
    "command_port": 5555,  # Port for receiving commands
    "telemetry_port": 5556,# Port for sending telemetry
}

# =============================================================================
# LANDING DETECTION
# =============================================================================

LANDING = {
    "success_distance": 0.5,    # Maximum horizontal distance from pad center (m)
    "success_velocity": 0.3,    # Maximum landing velocity (m/s)
    "height_threshold": 0.5,    # Height considered "landed" (m)
}

# =============================================================================
# CONTROLLER GAINS (PD Controller)
# =============================================================================

CONTROLLER = {
    # Altitude control
    "Kp_z": 0.5,    # Proportional gain for altitude
    "Kd_z": 0.3,    # Derivative gain for altitude
    
    # Horizontal control
    "Kp_xy": 0.3,   # Proportional gain for horizontal position
    "Kd_xy": 0.2,   # Derivative gain for horizontal position
    
    # Control rate
    "rate": 50,     # Control loop frequency (Hz)
}