# ArduPilot Parameters for GPS-Denied Navigation
# GPS ONLY used for geofencing, NOT navigation

# ====================
# GPS Configuration
# ====================
# Disable GPS for navigation
GPS_TYPE 0
GPS_TYPE2 0

# ====================
# Geofence Settings
# ====================
# Enable geofence (still uses GPS for boundaries)
FENCE_ENABLE 1
FENCE_TYPE 7          # All fence types (circle + polygon + altitude)
FENCE_ACTION 1        # RTL on breach
FENCE_ALT_MAX 50      # Maximum altitude (meters)
FENCE_RADIUS 100      # Circular fence radius (meters)
FENCE_MARGIN 2        # Margin inside fence for warning

# ====================
# EKF Configuration
# ====================
# Use EKF3 with external navigation
AHRS_EKF_TYPE 3
EK3_ENABLE 1
EK2_ENABLE 0

# EKF3 Source Configuration
# Source 1: External Nav (Visual Odometry)
EK3_SRC1_POSXY 6      # External nav for XY position
EK3_SRC1_POSZ 1       # Barometer for Z position
EK3_SRC1_VELXY 6      # External nav for XY velocity
EK3_SRC1_VELZ 0       # None for Z velocity
EK3_SRC1_YAW 6        # External nav for yaw

# EKF3 Position Innovation Gate
EK3_POS_I_GATE 300    # Larger gate for visual odometry

# ====================
# Vision Position Input
# ====================
VISO_TYPE 1           # MAVLink vision position
VISO_POS_X 0.1        # Camera X offset from CG (meters)
VISO_POS_Y 0.0        # Camera Y offset from CG (meters)
VISO_POS_Z -0.05      # Camera Z offset from CG (meters)
VISO_ORIENT 0         # Camera orientation (0 = forward)
VISO_DELAY_MS 50      # Vision position delay (ms)

# ====================
# Optical Flow
# ====================
FLOW_TYPE 1           # Enable optical flow
FLOW_FXSCALER 200     # X scale factor
FLOW_FYSCALER 200     # Y scale factor
FLOW_POS_X 0.0        # Flow sensor X offset
FLOW_POS_Y 0.0        # Flow sensor Y offset
FLOW_POS_Z 0.0        # Flow sensor Z offset

# ====================
# Rangefinder (for altitude in GPS-denied)
# ====================
RNGFND1_TYPE 1        # Analog rangefinder
RNGFND1_MIN_CM 10     # Minimum range (cm)
RNGFND1_MAX_CM 1000   # Maximum range (cm)
RNGFND1_ORIENT 25     # Downward orientation

# ====================
# Failsafe Settings
# ====================
FS_EKF_ACTION 1       # Land on EKF failsafe
FS_EKF_THRESH 0.8     # EKF failsafe threshold
FS_VIBE_ENABLE 0      # Disable vibration failsafe (optical flow sensitive)

# ====================
# Flight Modes
# ====================
# Disable GPS-dependent modes
# Allowed: STABILIZE, ALT_HOLD, LOITER (with optical flow), GUIDED
FLTMODE1 0            # Stabilize
FLTMODE2 2            # Alt Hold
FLTMODE3 5            # Loiter (optical flow based)
FLTMODE4 4            # Guided
FLTMODE5 6            # RTL (returns to local origin)
FLTMODE6 9            # Land

# ====================
# Arming Checks
# ====================
# Relax arming checks for GPS-denied operation
ARMING_CHECK 14      # Skip GPS check (bit 2 = 4)

# ====================
# Logging
# ====================
LOG_BITMASK 176126    # Log all relevant data
LOG_DISARMED 0        # Don't log when disarmed