# ArduPilot Parameters for Simulation
# Uses GPS from Gazebo for position estimation

# ====================
# GPS Configuration
# ====================
# Enable GPS (Gazebo provides simulated GPS)
GPS_TYPE 1            # Auto-detect
GPS_TYPE2 0

# ====================
# Geofence Settings
# ====================
# Disable geofence for simulation (avoids position requirement issues)
FENCE_ENABLE 0
FENCE_TYPE 3          # Alt + Circle
FENCE_ACTION 2        # Land on breach
FENCE_ALT_MAX 50      # Maximum altitude (meters)
FENCE_RADIUS 100      # Circular fence radius (meters)
FENCE_MARGIN 2        # Margin inside fence for warning

# ====================
# EKF Configuration
# ====================
# Use EKF3 with GPS
AHRS_EKF_TYPE 3
EK3_ENABLE 1
EK2_ENABLE 0

# EKF3 Source Configuration - Use GPS
EK3_SRC1_POSXY 3      # GPS for XY position
EK3_SRC1_POSZ 1       # Barometer for Z position
EK3_SRC1_VELXY 3      # GPS for XY velocity
EK3_SRC1_VELZ 0       # None for Z velocity
EK3_SRC1_YAW 1        # Compass for yaw

# EKF3 Position Innovation Gate
EK3_POS_I_GATE 300    # Larger gate

# ====================
# Vision Position Input
# ====================
# Disable vision odometry (not using for simulation)
VISO_TYPE 0           # Disabled
VISO_POS_X 0.0
VISO_POS_Y 0.0
VISO_POS_Z 0.0
VISO_ORIENT 0
VISO_DELAY_MS 50


# ====================
# Optical Flow
# ====================
# Disable optical flow (using GPS instead)
FLOW_TYPE 0           # Disabled

# ====================
# Rangefinder
# ====================
# Disable rangefinder (using barometer + GPS)
RNGFND1_TYPE 0        # Disabled

# ====================
# Failsafe Settings
# ====================
FS_EKF_ACTION 1       # Land on EKF failsafe
FS_EKF_THRESH 0.8     # EKF failsafe threshold
FS_VIBE_ENABLE 0      # Disable vibration failsafe
FS_GPS_ENABLE 0       # Disable GPS failsafe for simulation

# ====================
# Flight Modes
# ====================
FLTMODE1 0            # Stabilize
FLTMODE2 2            # Alt Hold
FLTMODE3 5            # Loiter
FLTMODE4 4            # Guided
FLTMODE5 6            # RTL
FLTMODE6 9            # Land

# ====================
# Arming Checks
# ====================
# Disable arming checks for simulation testing
ARMING_CHECK 0         # Disable all checks (for sim only)

# ====================
# Logging
# ====================
LOG_BITMASK 176126    # Log all relevant data
LOG_DISARMED 0        # Don't log when disarmed