connection:
  sim: "tcp:127.0.0.1:5760"
  real: "/dev/ttyAMA0"
  baud: 57600

flight:
  takeoff_altitude: 5.0
  max_altitude: 15.0
  min_altitude: 3.0
  max_velocity: 2.0
  max_acceleration: 1.0
  max_climb_rate: 1.0
  max_yaw_rate: 45.0

navigation:
  frame: LOCAL_NED
  waypoint_radius: 0.5
  position_hold_radius: 0.2
  home_mode: local

vision:
  forward_camera:
    enabled: true
    frame_rate: 30
    resolution: [640, 480]
  downward_camera:
    enabled: true
    frame_rate: 30
    resolution: [320, 240]
  visual_odometry:
    enabled: true
    method: ORB
    min_features: 100
    max_features: 500
  optical_flow:
    enabled: true
    method: Lucas-Kanade
    window_size: 15
    min_altitude: 0.3
    max_altitude: 10.0
  landmark_detection:
    enabled: true
    method: ArUco
    marker_size: 0.15

position_estimation:
  method: EKF
  update_rate: 50
  weights:
    visual_odometry: 0.6
    optical_flow: 0.3
    imu: 0.1
  process_noise:
    position: 0.1
    velocity: 0.5
  measurement_noise:
    visual_odom: 0.05
    optical_flow: 0.1
    imu: 0.2

obstacle_avoidance:
  enabled: true
  detection_range: 5.0
  safety_margin: 1.0

safety:
  geofence:
    enabled: true
    action_on_breach: RTL
    max_altitude: 10
    radius: 20
  failsafe:
    vision_loss_timeout: 5.0
    action_on_vision_loss: HOLD