[ALTIMETER]
DEFAULT_SOURCE=v1:altimeter:AINSTEINUSD1:0
IGNORE_ERRORS=0
MAX_ALTITUDE_M=20
MIN_ALTITUDE_M=1

[ANEMOMETER]
MAX_WIND_SPEED_MPS=10
MIN_WIND_SPEED_MPS=0

[APP]
AUTOPILOT_LED_GREEN=20
AUTOPILOT_LED_RED=21
DISABLE_WIFI_IN_AIR=false
LOG_SPLIT_SIZE_MB=0
LOG_SPLIT_TIME_S=0
LOG_SPLIT_TRACES=0
LOG_SPLIT_WAYPOINTS=0
MIN_FREE_SPACE_MB=300
PAYLOAD_POWER_ON=true
PAYLOAD_START_DELAY_S=5
POSITION_LOG_PERIOD_MS=100
STATUS_PERIOD_MS=500
SYSINFO_LOG=false
TELEMETRY_PERIOD_MS=200
VERBOSE=false

[AUTOPILOTS]
DJI=true
MAVLINK=false

[DJI]
BAUD_RATE=460800
DEBUG_LOG=
FORCE_TRUNCATE=false
SENDING_PERIOD_MS=20
SERIAL_DEVICE=/dev/ttyAMA2
USB_DEVICE=

[ECHOSOUNDER]
CABLE_LENGTH_M=0
MAX_DEPTH_M=20
MIN_DEPTH_M=0.5

[GAS_DETECTOR]
MAX_CONCENTRATION_PPM=1000
MIN_CONCENTRATION_PPM=0
ZERO_LEVEL_PPM=0

[GH]
DESCENT_ALTITUDE_M=3
DESCENT_SPEED_MPS=1
FAIL_SAFE_ALTITUDE_M=5
TARGET_ALTITUDE_M=5

[NAV]
ACCEPTANCE_RADIUS_M=1
DEBUG_LOG=false
HORIZONTAL_ACCEL_MSS=1
LEAN_COMPENSATION=false
MAX_CLIMB_SPEED_MS=2
MAX_DESCENT_SPEED_MS=2
MAX_JERK=10
POS_P=0.4
POS_Z_P=0.9
VELOCITY_FEED_FORWARD=0.6
VELOCITY_Z_FEED_FORWARD=0.4
VERTICAL_ACCEL_MSS=2
YAW_RATE_DS=40

[OA]
ACTION=STOP_AND_HOVER
ACTIVATED=false
ACTIVATION_ALTITUDE_M=10
ACTIVATION_SPEED_MPS=0.2
ALTITUDE_SOURCE=ALTIMETER
EMBEDDED_SENSORS=FRONT BACK LEFT RIGHT UP
SAFETY_DISTANCE_LIMIT_M=2
SAFETY_DISTANCE_SOURCE=OBSTACLE_DETECTOR

[PAYLOADS]
DROP_MESSENGER=false
ECHOLOGGER_DUAL=false
ECHOLOGGER_ECT=false
GNSS=false
PERGAM_FALCON=false
PERGAM_LMM=false
RADSYS_ZGPR=false
RADSYS_ZOND=false

[RADSYS_ZGPR]
IP_ADDRESS=192.168.0.10
PORT=23
PULSE_DELAY=377
SAMPLE_COUNT=512
STACKING=512
TELEMETRY_PERIOD_MS=2000
TIME_RANGE_PER_SAMPLE=7
TX_FREQUENCY_KHZ=300

[ROS_ALTIMETER_AINSTEINUSD1_0]
UART_BAUD_RATE=115200
UART_SERIAL_DEVICE=/dev/ttyAMA1

[ROS_ALTIMETER_NANORADARNRA24_0]
FILTER_SIZE=2
IS_FILTERED=false
UART_BAUD_RATE=115200
UART_SERIAL_DEVICE=/dev/ttyAMA1

[ROS_BRIDGE]
LAUNCH=/etc/skyhub/skyhub.launch
LOGS_LEVEL=info
LOGS_PATH=/tmp
MODULES_PATH=/var/skyhub/modules
PAYLOADS_DIR=/etc/skyhub/payloads
ROS_ENV=/opt/ugcs/ros/galactic
SDK_PATH=/opt/ugcs/skyhub-ros
UI_MESSAGES=DEFAULT

[ROS_CORE_LOGS_0]
ALTIMETER_SOURCE=v1:altimeter:default:0
DATALOG_DIR=/data/skyhub_logs
LOG_PER_LINE=false
MERGE_PERIOD_MS=1000
START_ENABLED=false

[ROS_MONITOR_ALTIMETERS_0]
SOURCE=v1:altimeter:default:0

[ROS_MONITOR_GNSSOUT_0]
BAUD_RATE=115200
ENABLE_PPS=false
GGA_RATE_HZ=5
HDT_RATE_HZ=1
MESSAGES=RMC GGA ZDA RMZ
NMEA_LOG=
PREFIX=GN
RMC_RATE_HZ=5
RMZ_RATE_HZ=5
SERIAL_DEVICE=/dev/ttyNMEA
ZDA_RATE_HZ=1

[ROS_MONITOR_TTF_0]
SOURCE=v1:altimeter:default:0

[ROS_PAYLOADS]
AINSTEINUSD1=true
EBINGERUPEX740=false
FTTECHNOLOGIESFT742=false
GEOLUXLX80=false
GEOLUXRSS=false
GNSSOUT=true
LIGHTWARESF30D=false
NANORADARMR72=false
NANORADARNRA24=false
QSPINQTFM=false
SENSYSMAGDRONER1=false
UNIVERSAL=true

[ROS_UNIVERSAL_UNIVERSALDRIVER_0]
PAYLOAD_ID=192
SENSOR_NAME=MedusaGRS
SEPARATOR_PATTERN=\\r\\n
UART_BAUD_RATE=115200
UART_SERIAL_DEVICE=/dev/ttyUNIVERSAL
VALUE_PATTERN=(\\d+)

[TF]
FAIL_SAFE_ALTITUDE_M=10
