; Low-light camera mode for the RGB Alvium 1800 U-2040c: continuous 1 Hz
; acquisition with long exposures and a high gain ceiling.
;
; Standalone: mode files do not inherit from one another, so this repeats
; standard.ini except where the two deliberately differ (marked NIGHT below).
;
; [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 = Low light: 1 Hz, long exposures, high gain ceiling
; Wait this long after the gimbal reports standstill, then keep the newest frame.
; NIGHT: at 1 fps a 1 s wait need not contain a whole fresh frame; allow two periods.
settle_wait_ms = 2500
; Give up on the waypoint if no fresh frame arrives within this long after that.
frame_timeout_ms = 5000

[Camera]
; --- Image format: binning first, it changes the ROI maxima ----------------
; Same geometry as standard so both modes produce comparable images; 2x2 binning
; also sums four photosites, which is worth having in the dark.
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        = Bpp12   ; NIGHT: more tonal range where signal is scarce
ColorInterpolation    = HighQualityLinear5X5

; --- Bandwidth: 1 Hz x 15.3 MB = ~15 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       = 1        ; NIGHT

; --- Exposure and gain: camera-managed, bounded ----------------------------
ExposureMode    = Timed
ExposureAuto    = Continuous
ExposureAutoMin = 1000
ExposureAutoMax = 500000       ; NIGHT: 0.5 s, inside the 1 Hz frame period
GainSelector    = All
GainAuto        = Continuous
GainAutoMin     = 0
GainAutoMax     = 48           ; NIGHT

; --- Auto-exposure controller ----------------------------------------------
IntensityControllerSelector       = IntensityController1
IntensityControllerAlgorithm      = Mean
IntensityControllerTarget         = 50      ; percent of full scale
IntensityControllerTolerance      = 5
IntensityControllerRate           = 100
IntensityControllerRegion         = FullImage
IntensityControllerOutliersDark   = 0
IntensityControllerOutliersBright = 0
IntensityAutoPrecedence           = Minimizenoise  ; NIGHT: expose longer before adding gain
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      = Off         ; NIGHT: no status LED glow at a dark site
DeviceIndicatorLuminance = 0
DevicePowerSavingMode    = Disabled