; Fire Gimbal Control - example configuration.
;
; Copy this file to "config.ini" and edit for your deployment:
;     cp config/config.example.ini config.ini
;
; The real config.ini is gitignored because it contains credentials.
; MQTT credentials may instead be supplied via the environment variables
; FGC_MQTT_USER and FGC_MQTT_PW, which take precedence over the values here.

[General]
; Tower identity, substituted into all MQTT topics and CamEvent payloads.
tower_name = ExampleTower
; Seconds between captures.
image_interval = 5
; 1 = print motor telemetry each loop tick, 0 = quiet.
debug = 0

[Network]
; MQTT broker address (the ground-station / ZKMS server).
zkms_server_ip = 127.0.0.1
; Prefer the FGC_MQTT_USER / FGC_MQTT_PW environment variables over these.
mqtt_user = CHANGE_ME
mqtt_pw = CHANGE_ME

[Camera]
; Camera IDs: GigE IP (e.g. 192.168.11.101) or USB device ID (e.g. DEV_1AB22C0AADED).
; Leave entries blank/absent for cameras you do not have. Order maps to RGB, ACR, NIR.
id_Cam1 = DEV_0000000000
id_Cam2 =
id_Cam3 =
id_Cam4 =
; --- On-camera imaging (Alvium; applied in-session at startup) ---
; The LattePanda USB3 host cannot reliably transfer large single frames (~60 MB RGB8
; full-res stalls); keep frames small and PACE capture. See docs/known-issues.md.
; Digital binning: 1 = full res; 2 = 2x2 (~5 MP, ~15 MB) - the reliable default.
binning = 2
; ROI (0 = sensor maximum / full frame). Set width/height to crop.
offset_x = 0
offset_y = 0
width = 0
height = 0
; Pixel format: RGB8 keeps de-Bayering AND white balance on-camera (colour out, no host debayer).
pixel_format = RGB8
; DeviceLinkThroughputLimit in MByte/s. Do NOT max it (450 caused incomplete frames); ~200-300.
throughput_mbytes = 250
; Paced acquisition rate (fps). Keep LOW: ~2 fps of 15 MB frames stalls this USB3 host; 1 fps
; sustains. Low rate still keeps the on-camera auto exposure/gain/white-balance converged.
stream_fps = 1.0
; On-camera auto adjustments to track dramatically changing outdoor light. *_max caps bound
; motion blur / frame time (exposure) and noise (gain); 0 = leave the camera default.
exposure_auto = true
exposure_max_us = 0
gain_auto = true
gain_max_db = 0
white_balance_auto = true
; JPEG XL encoding. distance: 0 = lossless, ~0.8 = near-lossless (default); effort 1..9.
jxl_distance = 0.8
jxl_effort = 4

[Serial]
; Motor-controller serial device and baud rate.
device = /dev/ttyACM0
baud = 115200

[IMU]
; Xsens MTi orientation/inertial sensor. Wired to the LattePanda's RS-232 header
; (an onboard hardware UART), so this is a stable /dev/ttyS* node - NOT a USB
; device and NOT /dev/ttyUSB0-3 (those are the Quectel modem). Find it with
;   ls /dev/ttyS*  ;  dmesg | grep -iE 'ttyS|LPSS|HSUART'  (often /dev/ttyS4)
; Enable with [Features] enable_imu = true. The host reconfigures the MTi to a
; Euler + calibrated 100 Hz stream at startup.
device =
baud = 115200

[Motor]
; Degrees<->encoder-counts calibration for each axis. The firmware speaks only
; in absolute encoder counts; these map them to the heading/elevation degrees
; used by MQTT (target_HDG) and CamEvent. CALIBRATE on the rig after homing:
;   counts = zero_count + deg * counts_per_deg
; counts_per_deg may be negative to flip direction. min/max_deg clamp commands.
;
; Mechanical travel of this gimbal (between hard endstops, found at homing):
;   Yaw   ~320 deg  (0 .. 320; NOT a full revolution, cannot wrap)
;   Pitch   40 deg  (-10 .. +30; -10 below horizon to +30 above)
; Keep all scan waypoints inside these ranges or the move clamps short.
;
; Yaw starting point: firmware steps_per_rev=177000 over ~180 deg => ~983.33.
yaw_counts_per_deg = 983.33
yaw_zero_count = 500000
yaw_min_deg = -90
yaw_max_deg = 90
; Re-anchor the yaw zero from homing instead of the fixed yaw_zero_count above:
;   off  (default) - use yaw_zero_count as written
;   low            - the lower-count endstop becomes 0 deg, degrees rise toward
;                    the higher-count endstop (which lands near +360)
;   high           - the higher-count endstop becomes 0 deg, degrees rise toward
;                    the lower-count endstop (which lands near +360)
; Keeps yaw_counts_per_deg as the scale; only the zero + direction come from the
; homed endstops, so the yaw origin is fixed by homing (no zero recalibration).
; yaw_min_deg/yaw_max_deg are auto-set to 0..(homed range). Pitch is unaffected.
yaw_home_zero = off
; Pitch (physical endstops, -10..+30 deg = 40 deg travel). CALIBRATE counts_per_deg/zero_count.
pitch_counts_per_deg = 8333.33
pitch_zero_count = 0
pitch_min_deg = -10
pitch_max_deg = 30
; Live encoder-tracking WARN: log a warning when an axis's |xactual - xenc|
; exceeds this many counts (positional slip). 0 disables. Default 400 sits above
; the firmware hold deadband (200) and below the DIAG peak limit (500).
enc_error_warn_counts = 400

[Scan]
; Capture scan grid (the (yaw,pitch) waypoints auto-sweep steps through).
; If grid_file is set, that CSV is used verbatim (one "yaw_deg,pitch_deg" per
; line, '#' comments allowed) - edit it to define exact scan coordinates.
; If grid_file is blank, a grid is generated: yaw_intervals positions across
; [yaw_min_deg, yaw_max_deg] at each pitch level, traversed ping-pong.
grid_file =
yaw_intervals = 56
yaw_min_deg = -90
yaw_max_deg = 90
pitch_levels = 10,30,50

[Paths]
; Directory for saved .jxl images. Supports leading ~ and $ENV expansion.
; If blank, defaults to $XDG_DATA_HOME/fire_gimbal_control/images
; (i.e. ~/.local/share/fire_gimbal_control/images).
output_dir =

[Features]
; Enable/disable subsystems and select mock (simulated) implementations.
; CLI flags (e.g. --no-mqtt, --mock-camera, --mock-serial) override these.
enable_mqtt = true
enable_camera = true
enable_serial = true
enable_imu = false
mock_camera = false
mock_serial = false
mock_imu = false

[Test]
; Hardware self-test command (`test`). `profile` is the default profile used when
; none is named on the command line. `baseline_file` is where `test baseline` pins
; a golden report (empty => <logdir>/test_baseline.txt). Each [TestProfile.*] is a
; named bundle of repetition counts, sampling windows and pass thresholds; modules
; read the keys they need (unknown keys are ignored, so new tests can add knobs
; here without code changes).
profile = standard
baseline_file =

[TestProfile.standard]
reps = 5                          ; repetitions for homing / friction / balance
drift_warn_pct = 15               ; flag a metric drifting more than this vs baseline
drift_gates_pass = false          ; true => a drift flag also fails the metric
home_spread_max_counts = 80       ; max endstop-count spread across homings
home_ms_min = 4000                ; expected homing-time band (ms)
home_ms_max = 20000
encoder_diag_reps = 2
imu_sample_window_ms = 3000       ; static window for IMU health
imu_drift_window_ms = 60000       ; long static window for the yaw-drift fit
imu_yaw_noise_max_deg = 0.5
imu_yaw_drift_max_deg_min = 1.0
imu_expected_hz = 100
; imu_expected_profile = VRU_general   ; assert the active XKF profile, if set
backlash_step_counts = 200,500,1000   ; small steps probing reversal dead-band
balance_steps = 10                ; pitch up/down current-profile resolution
balance_asym_max = 4              ; max |up-down| current (CS) before "imbalanced"
cpu_temp_max_c = 85
disk_free_min_gb = 5
ram_avail_min_mb = 256

[TestProfile.quick]
reps = 3
imu_sample_window_ms = 1000
imu_drift_window_ms = 10000

[TestProfile.strict]
reps = 10
drift_warn_pct = 8
drift_gates_pass = true

[UI]
; Full-screen terminal dashboard (sectioned, colored, live status + log pane).
; false => headless line console (default; stdin commands, stdout logs).
; CLI --tui / --no-tui override this. Requires a build with WITH_TUI=ON.
enable_tui = false

[Logging]
; level: trace|debug|info|warn|error|off (default info). --log-level overrides.
level = info
; Verbatim per-category wire tracing, independent of the level above. Comma list
; of: serial, mqtt, camera, control, all, none. OFF by default. --trace overrides.
; Lines are tagged [SERIAL]/[MQTT]/[CAMERA]/[CONTROL] with TX/RX direction, e.g.
;   [SERIAL] TX kd180   /   [SERIAL] RX $;1234;0;...
trace =