enemy_color: "red"
# enemy_color: "blue"

#####-----神经网络参数-----#####
yolo_name: yolov5
classify_model: assets/tiny_resnet.onnx
yolo11_model_path: assets/yolo11.xml
yolov8_model_path: assets/yolov8.xml
yolov5_model_path: assets/yolov5.xml
device: GPU
min_confidence: 0.8
use_traditional: true

#####-----ROI-----#####
roi: 
  x: 420
  y: 50
  width: 600
  height: 600

use_roi: false

#####-----传统方法参数-----#####
threshold: 150
max_angle_error: 45 # degree
min_lightbar_ratio: 1.5
max_lightbar_ratio: 20
min_lightbar_length: 8
min_armor_ratio: 1
max_armor_ratio: 5
max_side_ratio: 1.5
max_rectangular_error: 25 # degree
min_confidence: 0.8

#####-----tracker参数-----#####
min_detect_count: 5
max_temp_lost_count: 15
outpost_max_temp_lost_count: 75

#####-----aimer参数-----#####
yaw_offset: -2 # degree -2.5
pitch_offset: 0 # degree 2
comming_angle: 60 # degree
leaving_angle: 20 # degree
decision_speed: 8 # rad/s
high_speed_delay_time: 0.015 # s
low_speed_delay_time: 0.015 # s

#####-----shooter参数-----#####
first_tolerance: 3 # 近距离射击容差，degree
second_tolerance: 2 # 远距离射击容差，degree
judge_distance: 2 #距离判断阈值
auto_fire: true # 是否由自瞄控制射击

camera_name: "hikrobot"
exposure_ms: 2
gain: 16
vid_pid: "2bdf:0001"

#  1  0  0
#  0  1  0
#  0  0  1

R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]

# 重投影误差: 0.3145px
camera_matrix: [1851.7070167840545, 0, 721.12585328714192, 0, 1851.8175594364079, 571.69879709276688, 0, 0, 1]
distort_coeffs: [-0.093662536083526302, 0.18945726820633155, -0.00040424349861928674, -0.0040568403852123142, 0]

# 相机同理想情况的偏角: yaw-1.61 pitch-0.82 roll-0.61 degree
R_camera2gimbal: [0.02823004230930648, -0.014076983590428133, 0.99950232778328707, -0.99954530259354468, -0.010995644138609872, 0.028076393521179785, 0.010594940981141165, -0.99984045444409364, -0.014380990321749998]
t_camera2gimbal: [0.045517325957791413, 0.10544338092767802, 0.034649710880185793]

#####-----cboard参数-----#####
quaternion_canid: 0x100
bullet_speed_canid: 0x101
send_canid: 0xff
can_interface: "can0"

#####-----gimbal参数-----#####
com_port: "/dev/gimbal"

#####-----planner-----#####
fire_thresh: 0.003

max_yaw_acc: 50
Q_yaw: [9e6, 0]
R_yaw: [1]

max_pitch_acc: 100
Q_pitch: [9e6,0]
R_pitch: [1]

#####-----buff_detector参数-----#####
model: "assets/yolo11_buff_int8.xml"

#####-----buff_aimer参数-----#####
fire_gap_time: 0.520   # s
predict_time: 0.100     # s