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

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

# ── ArUco Marker ─────────────────────────────────────────────
marker:
  dictionary: DICT_4X4_50
  size: 0.5                # Physical marker size in meters
  landing_ids: [0]         # Marker IDs that trigger landing (on UGV)
  target_ids: [1]          # Marker IDs to find and report to UGV
  target_position: [3.0, 3.0] # Initial X, Y location of the target Aruco map in the map

# ── Search Patterns ──────────────────────────────────────────
spiral:
  max_legs: 35

lawnmower:
  width: 30.0
  height: 30.0

levy:
  max_steps: 40
  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]