{
  "pod_serial": {
    "port": "",
    "baudrate": 115200
  },
  "px4": {
    "connection_string": "udp://:14540"
  },
  "link": {
    "attitude_downlink_hz": 20.0,
    "telemetry_timeout_ms": 500
  },
  "guidance": {
    "frequency_hz": 10.0,
    "target_stale_ms": 1000,
    "position_stale_ms": 1000,
    "stop_radius_m": 5.0,
    "max_speed_mps": 5.0,
    "speed_kp": 0.5,
    "speed_ki": 0.0,
    "speed_kd": 0.0,
    "speed_integral_limit": 0.0,
    "speed_derivative_filter_coef": 0.0,
    "speed_slew_mps2": 2.0,
    "max_yaw_rate_dps": 30.0,
    "yaw_kp": 1.0,
    "yaw_slew_dps2": 60.0
  }
}