{
  "_comment": "吊舱↔PX4 桥接配置。heading_servo.enabled=true → 走 L1 航向伺服(TrackingControlLaw)；tracking 段为 L1 控制律参数(与 visual_track_control 同结构，各分组须齐全)。S1 台架标定(2026-10-09)：目标在左下时 off_target_x/y 均为负 → 吊舱 X 轴右正(与控制律 β 同向)故 beta_sign=+1；Y 轴上正(与控制律 α 下正相反)故 alpha_sign=-1。厂商已确认本版电机无用 → beta_from_frame/alpha_from_frame 恒 false(框架角路径仅留作将来装电机的预留)。heading.gain 等增益仍为占位，须 S2 干跑验证方向与量级后方可实飞。",

  "pod_serial": {
    "port": "",
    "baudrate": 115200
  },
  "px4": {
    "connection_string": "udp://:14540"
  },
  "link": {
    "attitude_downlink_hz": 20.0,
    "telemetry_timeout_ms": 500,
    "require_laser_valid": false
  },
  "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
  },

  "heading_servo": {
    "enabled": true,
    "beta_sign": 1,
    "alpha_sign": -1,
    "beta_from_frame": false,
    "beta_from_off_target": true,
    "alpha_from_frame": false,
    "alpha_from_off_target": true,
    "vertical_enabled": true,
    "require_vision": false
  },

  "tracking": {
    "control": {
      "frequency_hz": 20.0,
      "visual_stale_ms": 200,
      "distance_stale_ms": 500,
      "attitude_stale_ms": 300
    },
    "camera": {
      "image_width": 1920,
      "image_height": 1080,
      "fov_h_deg": 60.0,
      "fov_v_deg": 35.0
    },
    "heading": {
      "mode": "rate",
      "gain": 1.0,
      "yaw_rate_limit_dps": 20.0,
      "yaw_slew_limit_dps2": 40.0
    },
    "vertical": {
      "vz_gain_mps_per_deg": 0.05,
      "vz_limit_mps": 0.5
    },
    "distance": {
      "d_exp_m": 10.0,
      "kp": 0.5,
      "ki": 0.0,
      "kd": 0.0,
      "integral_limit": 0.0,
      "derivative_filter_coef": 0.0,
      "approach_velocity_limit_mps": 0.5,
      "retreat_velocity_limit_mps": 0.3,
      "no_distance_action": "slow_approach",
      "no_distance_approach_limit_mps": 0.2,
      "no_distance_exit_grace_ms": 3000
    },
    "accel_limit": {
      "ax_mps2": 1.0,
      "ay_mps2": 1.0,
      "az_mps2": 0.5
    }
  },

  "ground_inject": {
    "enabled": false,
    "host": "0.0.0.0",
    "port": 14555,
    "timeout_ms": 5000
  }
}