sensors:

  camera_intrinsics:
    wideangle: false
    stereo: false
    horizontal_fov_deg: 100.0 # Must be <180 if wideangle is false
    width: 320
    height: 240
    update_rate: 8
    near_clip: 0.1
    far_clip: 2000

  lidar_intrinsics:
    horizontal_samples: 240
    h_min_angle_deg: -180.0
    h_max_angle_deg: 180.0
    vertical_samples: 40
    v_min_angle_deg: 7.0
    v_max_angle_deg: 52.0
    min_range: 0.1
    max_range: 70.0
    range_resolution: 0.01
    update_rate: 4

aircraft_models:

  alti_transition_quad:
    camera_extrinsics: "0.8 0 -0.175 0 20 0"
    lidar_extrinsics: "0 0 -0.125 180 0 0"

  iris_with_ardupilot:
    camera_extrinsics: ".155 0 -0.05 0 -25 0"
    lidar_extrinsics: "0 0 .08 0 15 0"

  swan_k1_hwing:
    camera_extrinsics: "0.18 0 -0.1 0 0 0"
    lidar_extrinsics: "0.22 0 0 0 90 0"

  standard_vtol:
    camera_extrinsics: ".58 0 -0.06 0 20 0"
    lidar_extrinsics: "0 0 -0.08 180 0 0"

  x500:
    camera_extrinsics: ".175 0 -0.05 0 -25 0"
    lidar_extrinsics: "0 0 .08 0 15 0"

  quadtailsitter:
    camera_extrinsics: "0.1 0 0.55 0 -90 0"
    lidar_extrinsics: "0.035 0 0.725 0 0 0"