# UAV Configuration - GPS-Denied Navigation
/**:
  ros__parameters:
    
    # Vision parameters for navigation
    vision:
      # Forward camera (for visual odometry)
      forward_camera:
        enabled: true
        topic: "/uav/camera/forward/image_raw"
        info_topic: "/uav/camera/forward/camera_info"
        frame_rate: 30
        
      # Downward camera (for optical flow)
      downward_camera:
        enabled: true
        topic: "/uav/camera/downward/image_raw"
        info_topic: "/uav/camera/downward/camera_info"
        frame_rate: 30
        
      # Visual odometry settings
      visual_odometry:
        enabled: true
        method: "ORB"  # Options: ORB, SIFT, SURF
        min_features: 100
        max_features: 500
        feature_quality: 0.01
        min_distance: 10
        
      # Optical flow settings
      optical_flow:
        enabled: true
        method: "Lucas-Kanade"
        window_size: 15
        max_level: 3
        min_altitude: 0.3  # meters
        max_altitude: 10.0  # meters
        
      # Landmark detection
      landmarks:
        enabled: true
        detection_method: "ArUco"  # Options: ArUco, AprilTag, ORB
        marker_size: 0.15  # meters
        
    # Position estimation (sensor fusion)
    position_estimator:
      fusion_method: "EKF"  # Extended Kalman Filter
      
      # Sensor weights (trust levels)
      weights:
        visual_odometry: 0.6
        optical_flow: 0.3
        imu: 0.1
        
      # Update rates
      update_rate: 50  # Hz
      
      # Covariance matrices
      process_noise:
        position: 0.1
        velocity: 0.5
        
      measurement_noise:
        visual_odom: 0.05
        optical_flow: 0.1
        imu: 0.2
    
    # Navigation parameters (RELATIVE coordinates only)
    navigation:
      frame: "LOCAL_NED"  # Never use GPS frame
      
      # Control parameters
      max_velocity: 2.0  # m/s
      max_acceleration: 1.0  # m/s^2
      max_climb_rate: 1.0  # m/s
      
      # Waypoint following
      waypoint_radius: 0.5  # meters
      position_hold_radius: 0.2  # meters
      
      # Obstacle avoidance (vision-based)
      obstacle_avoidance:
        enabled: true
        detection_range: 5.0  # meters
        safety_margin: 1.0  # meters
    
    # Mission parameters
    mission:
      takeoff_altitude: 5.0  # meters (relative)
      loiter_radius: 2.0  # meters
      rtl_altitude: 10.0  # meters (relative)
      
      # Home position is LOCAL (0,0,0), not GPS
      home_mode: "local"  # Never "gps"
    
    # Safety (geofencing uses GPS, but navigation doesn't)
    safety:
      geofence:
        enabled: true
        use_gps: true  # ONLY for geofence
        action_on_breach: "RTL"  # Return to LOCAL origin
        
      failsafe:
        vision_loss_timeout: 5.0  # seconds
        action_on_vision_loss: "HOLD"  # or "RTL" or "LAND"