altitude: 5.0

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

actions:
  land:
    - 0

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
  points:
    - [-5, -5]
    - [-5, 25]
    - [25, 25]
    - [25, -5]