; Daytime camera mode for the RGB Alvium 1800 U-2040c: continuous 10 Hz
; acquisition with camera-managed exposure.
;
; [Camera] is a list of Vimba X features written to the camera IN FILE ORDER
; when this mode is applied. Names and enum values must be spelled exactly as
; VimbaX spells them (Minimizenoise, not MinimizeNoise) - see a VimbaX settings
; export for the full feature list. A name this camera does not expose is logged
; as a warning and skipped, never fatal.
;
; Selector features are stateful: set the selector, then the value it selects.
; Repeating a key is intentional and supported.

[Mode]
description = Daytime sweep: continuous 10 Hz, camera-managed exposure
; Wait this long after the gimbal reports standstill, then keep the newest frame.
settle_wait_ms = 1000
; Give up on the waypoint if no fresh frame arrives within this long after that.
frame_timeout_ms = 2000

[Camera]
; --- Image format: binning first, it changes the ROI maxima ----------------
; 2x2 binning is not optional at 10 Hz: a full-resolution RGB8 frame is 61 MB,
; which caps out at ~4 fps under the 250 MB/s link limit. Binned it is 15.3 MB.
BinningSelector       = Digital
BinningHorizontalMode = Sum
BinningVerticalMode   = Sum
BinningHorizontal     = 2
BinningVertical       = 2
OffsetX               = 0
OffsetY               = 0
Width                 = 2256
Height                = 2256
ReverseX              = 0
ReverseY              = 0
PixelFormat           = RGB8
SensorBitDepth        = Bpp8
ColorInterpolation    = HighQualityLinear5X5

; --- Bandwidth: 10 Hz x 15.3 MB = ~153 MB/s --------------------------------
; Do NOT raise to 450: that produced incomplete frames on this host.
DeviceLinkThroughputLimitMode = On
DeviceLinkThroughputLimit     = 250000000

; --- Acquisition: free-run, no trigger -------------------------------------
AcquisitionMode            = Continuous
TriggerSelector            = FrameStart
TriggerMode                = Off
AcquisitionFrameRateMode   = Basic
AcquisitionFrameRateEnable = 1
AcquisitionFrameRate       = 10

; --- Exposure and gain: camera-managed, bounded ----------------------------
ExposureMode    = Timed
ExposureAuto    = Continuous
ExposureAutoMin = 200
ExposureAutoMax = 20000        ; < 1/fps and short enough to limit slew blur
GainSelector    = All
GainAuto        = Continuous
GainAutoMin     = 0
GainAutoMax     = 24

; --- Auto-exposure controller ----------------------------------------------
IntensityControllerSelector       = IntensityController1
IntensityControllerAlgorithm      = Mean
IntensityControllerTarget         = 50      ; percent of full scale
IntensityControllerTolerance      = 5
IntensityControllerRate           = 100
IntensityControllerRegion         = FullImage
IntensityControllerOutliersDark   = 0
IntensityControllerOutliersBright = 0
IntensityAutoPrecedence           = Minimizeexposuretime
AutoModeRegionSelector = AutoModeRegion1
AutoModeRegionOffsetX  = 0
AutoModeRegionOffsetY  = 0
AutoModeRegionWidth    = 2256
AutoModeRegionHeight   = 2256

; --- White balance: fixed ratios, measured in VimbaX ------------------------
BalanceWhiteAuto     = Off
BalanceRatioSelector = Red
BalanceRatio         = 2.870117
BalanceRatioSelector = Blue
BalanceRatio         = 1.999023

; --- Image processing -------------------------------------------------------
BlackLevelSelector = All
BlackLevel         = 81
Gamma              = 1.0
Hue                = 0
Saturation         = 1.0
Sharpness          = 0
ContrastEnable      = 0
ContrastBrightLimit = 255
ContrastDarkLimit   = 0
ContrastShape       = 4
ColorTransformationEnable      = 0
AdaptiveNoiseSuppressionFactor = 1     ; raise if frames look noisy
CorrectionSelector = DefectPixelCorrection
CorrectionMode     = On
CorrectionSelector = FixedPatternNoiseCorrection
CorrectionMode     = On

; --- Device -----------------------------------------------------------------
DeviceIndicatorMode      = Active
DeviceIndicatorLuminance = 10
DevicePowerSavingMode    = Disabled