{
    "model": {
        "model_path": "./om/yolo26n-balloon2.om",
        "conf_threshold": 0.25,
        "device_id": 0
    },
    "video": {
        "video_source": "rtsp://192.168.144.25:8554/main.264",
        "jpeg_quality": 75
    },
    "network": {
        "ground_station_ip": "192.168.31.221",
        "udp_port": 9999
    },
    "flight_control": {
        "req_endpoint": "tcp://127.0.0.1:5555",
        "sub_endpoint": "tcp://127.0.0.1:5556",
        "takeoff_alt": 5.0,
        "control_hz": 20,
        "target_tracker": {
            "max_lost_frames": 8,
            "max_asscociation_dist": 200.0,
            "min_hits": 3
        },
        "connection_string": "/dev/ttyAMA1",
        "baud_rate": 57600
    },
    "fc_info":{
        "type": "px4"
    },
    "command_channel": {
        "enabled": true,
        "tcp_port": 9999
    },
    "missions": {
        "target_altitude": 3.0,
        "arrival_radius": 0.3,
        "hold_duration": 8.0,
        "return_to_home": false,
        "target_lost_timeout": null
    },
    "log": {
    "enable_flight_log": true,
    "flight_log_interval": 20,
    "log_dir": "./log"
    },
    "pid_y": {
        "kp": 1.0,
        "ki": 0.02,
        "kd": 0.3,
        "max_out": 0.8,
        "min_out": -0.8
    },
    "pid_z": {
        "kp": 1.0,
        "ki": 0.02,
        "kd": 0.3,
        "max_out": 0.4,
        "min_out": -0.4
    }
}