FC-Vision/script/setting/settings.json at master · FC-Family/FC-Vision · GitHub

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{
  "SettingsVersion": 1.2,
  "SimMode": "Multirotor",
  "DefaultVehicleConfig": "SimpleFlight",
  "ViewMode": "SpringArmChase",
  "UsageScenario": "",
  "RpcEnabled": true,
  "CameraDirector": {
    "FollowDistance": -0.7,
    "X": 0, "Y": 0, "Z": 100,
    "Pitch": 0, "Roll": 0, "Yaw": 0
   },

  "SubWindows": [
    {
      "WindowID": 0,
      "CameraName": "front_center",
      "ImageType": 0,
      "Visible": false
    },
    {
      "WindowID": 1,
      "CameraName": "front_center",
      "ImageType": 5,
      "Visible": false
    },
    {
      "WindowID": 2,
      "CameraID": 3,
      "ImageType": 1,
      "Visible": false
    }
  ],
  "CameraDefaults": {
    "CaptureSettings": [
      {
        "ImageType": 0,
        "Width": 640,
        "Height": 480,
        "FOV_Degrees": 80,
        "AutoExposureSpeed": 100,
        "AutoExposureBias": 0,
        "AutoExposureMaxBrightness": 0.64,
        "AutoExposureMinBrightness": 0.03,
        "MotionBlurAmount": 0,
        "TargetGamma": 1.0
      },
      {
        "ImageType": 2,
        "Width": 640,
        "Height": 480,
        "FOV_Degrees": 80
      }
    ]
  },
  "Vehicles": {
    "drone_1": {
      "VehicleType": "SimpleFlight",
      "DefaultVehicleState": "Armed",
      "EnableCollisionPassthrogh": false,
      "EnableCollisions": true,
      "AllowAPIAlways": true,
      "RC": {
        "RemoteControlID": -1,
        "AllowAPIWhenDisconnected": false
      },
      "Cameras": {
        "front_center": {
          "CaptureSettings": [
            {
              "ImageType": 0,
              "Width": 640,
              "Height": 480,
              "FOV_Degrees": 80,
              "TargetGamma": 1.0
            },
            {
              "ImageType": 2,
              "Width": 640,
              "Height": 480,
              "FOV_Degrees": 80
            }
          ],
          "X": 0.125,
          "Y": 0,
          "Z": 0,
          "Pitch": 0,
          "Roll": 0,
          "Yaw": 0
        }
      },
      "Sensors": {
        "LidarSensor1": {
          "SensorType": 6,
          "Enabled" : true,
          "Range"   : 50,
          "NumberOfChannels": 128,
          "RotationsPerSecond": 10,
          "PointsPerSecond": 100000,
          "X": 0, "Y": 0, "Z": 0,
          "Roll": 0, "Pitch": 0, "Yaw" : 0,
          "VerticalFOVUpper": 45,
          "VerticalFOVLower": -37,
          "HorizontalFOVStart": -180,
          "HorizontalFOVEnd": 180,
          "DrawDebugPoints": false,
          "DataFrame": "SensorLocalFrame"
        },

        "Imu": {
          "SensorType": 2,
          "Enabled": true,
          "AngularRandomWalk": 0.3,
          "GyroBiasStabilityTau": 500,
          "GyroBiasStability": 4.6,
          "VelocityRandomWalk": 0.24,
          "AccelBiasStabilityTau": 800,
          "AccelBiasStability": 36
        }
      }
    }
  },
  "OriginGeopoint": {
    "Latitude": 0.61468,
    "Longitude": 0.140165,
    "Altitude": 122
  }

}