# Common configuration for PX4Flow module
#
# node:
startup_px4_usb_quirk: false

# --- system plugins ---

# sys_status & sys_time connection options
conn:
  heartbeat_rate: 1.0    # send hertbeat rate in Hertz
  timeout: 10.0          # hertbeat timeout in seconds
  timesync_rate: 0.0     # TIMESYNC rate in Hertz (feature disabled if 0.0)
  system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)

# sys_status
sys:
  min_voltage: 4.5   # diagnostics min voltage
  disable_diag: true  # disable all sys_status diagnostics, except heartbeat

# --- mavros extras plugins (same order) ---

# image_pub
image:
  frame_id: "px4flow"

px4flow:
  frame_id: "px4flow"
  ranger_fov: 0.118682      # 6.8 degree at 5 meters, 31 degrees at 1 meter
  ranger_min_range: 0.3     # meters
  ranger_max_range: 5.0     # meters

# vim:set ts=2 sw=2 et:
