# ─── Mission / Search Configuration ──────────────────────────
# Single source of truth for all mission parameters.

# ── Flight ───────────────────────────────────────────────────
altitude: 4.0              # Search altitude (meters)

# ── ArUco Marker ─────────────────────────────────────────────
marker:
  dictionary: DICT_4X4_50
  size: 0.5                # Physical marker size in meters
  landing_ids: [0]         # Marker IDs that trigger landing

# ── Search Patterns ──────────────────────────────────────────
spiral:
  max_legs: 12
  initial_leg: 4.0
  leg_increment: 3.2

lawnmower:
  width: 30.0
  height: 30.0
  lane_spacing: 3.2
  lanes: 2

levy:
  max_steps: 20
  field_size: 50.0

# ── Geofence ─────────────────────────────────────────────────
geofence:
  enabled: true
  warning_distance: 3.0
  min_altitude: 0.0
  max_altitude: 15.0
  # Polygon vertices in local NED (x=North, y=East) meters
  # Centered on UAV start position (0, 0)
  points:
    - [-15, -15]
    - [-15, 15]
    - [15, 15]
    - [15, -15]