# AERPAW UAV (Client) Configuration

# Unique 0-indexed UAV identifier (each UAV must have a distinct value)
uav_id: 0

# TDM (Time-Division Multiplexing) radio settings
# All UAVs share a common frequency; each transmits only during its time slot.
# Slot assignment uses wall-clock modular arithmetic (GPS/NTP synced).
tdm:
  slot_duration: 0.5      # seconds per slot
  guard_interval: 0.05    # seconds of silence at slot boundaries

# ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
origin:
  lat: 35.72550610629396
  lon: -78.70019657805574
  alt: 0.0  # Alt=0 means ENU z directly becomes target altitude above home
# Environment-specific settings
environments:
  local:
    # MAVLink connection for SITL simulation (UDP)
    mavlink:
      ip: "127.0.0.1"
      port: 14550
    # Controller server address
    controller:
      ip: "127.0.0.1"
      port: 5000

  testbed:
    # AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP)
    mavlink:
      ip: "192.168.32.26"
      port: 14550
    # Controller runs on host machine (192.168.122.1 from E-VM perspective)
    controller:
      ip: "192.168.122.1"
      port: 5000
