# MAVROS Configuration for GPS-Denied Navigation
# GPS is DISABLED for navigation, ENABLED only for geofencing

/**:
  ros__parameters:
    use_sim_time: true
    
    # Connection
    fcu_protocol: "v2.0"
    
    # System
    system_id: 1
    component_id: 1
    
    # Time sync
    time:
      time_ref_source: "fcu"
      timesync_mode: MAVLINK
      timesync_avg_alpha: 0.6
    
    # GPS Settings - ONLY for geofencing
    gps:
      # Disable GPS for navigation
      use_gps_for_navigation: false
      
      # Enable GPS only for geofence
      enable_gps_geofence: true
    
    # Local position (PRIMARY navigation source)
    local_position:
      frame_id: "map"
      tf:
        send: true
        frame_id: "map"
        child_frame_id: "base_link"
      
      # Use local odometry, NOT GPS
      use_vision: true  # Will use our visual odometry
    
    # Vision pose input (from visual odometry)
    vision_pose:
      tf:
        listen: false
        frame_id: "odom"
        child_frame_id: "base_link"
    
    # Vision speed input (from optical flow)
    vision_speed:
      listen_twist: true
    
    # Setpoint configuration
    setpoint_raw:
      thrust_scaling: 1.0
    
    setpoint_position:
      tf:
        listen: false
      # Use LOCAL_NED frame (relative positioning)
      mav_frame: 1  # MAV_FRAME_LOCAL_NED
      
    setpoint_velocity:
      mav_frame: 8  # MAV_FRAME_BODY_NED (body-relative)
    
    # Disable GPS-based modes
    # Only allow: MANUAL, STABILIZE, ALT_HOLD, GUIDED (local), LOITER (local)
    allowed_modes:
      - "MANUAL"
      - "STABILIZE"
      - "ALT_HOLD"
      - "GUIDED"
      - "LOITER"
      - "RTL"  # Returns to LOCAL origin, not GPS home