# size of the trackable area
[field]
  # width in mm
  x = 390
  # height in mm
  y = 395

[arduino]
  # leave port empty for auto config
  # port = 
  port = /dev/ttyACM0

# acoustic sensor config
[ac_sensor]
  # distance of the sensors in front of y=0 in mm
  y_offset = 50

  # left sensor x offset to the left border at x=0 in mm 
  left_x_offset = 0

  # right sensor x offset to the right border at x=width in mm 
  right_x_offset = 0

  # positions [(x,y1), (x,y2)] at which the calibration takes place in mm
  calibration_y_offset_1 = 100
  calibration_y_offset_2 = 395
  calibration_x_offset   = 195

  # default speed of sound in mm / us (or km / s)
  # only used before calibration
  sonicspeed = 0.342

  # default arduino timing overhead in us
  # only used before calibration
  overhead_left  = 20
  overhead_right = 20

[mag_sensor]
measurements_gyro = 500   # amount of measurements used for the calibration of the Gyroscope
measurements_accel = 1000 # amount of measurements used for the calibration of the Accelerometer


[opt_sensor]
  capture_device = -1
  debug_image = yes

  # distance between center of fiducials in mm
  target_distance = 55

  # x offset when target is in the center of camera (at offset=50%) in mm
  x_offset = 195

  # horizontal FoV of the camera in °
  # RaspiCam datasheet: https://www.raspberrypi.org/documentation/hardware/camera/
  fov = 53.50

[gui]
  fullscreen = no
  log_lines  = 100