rune_detector:
  rune_center_min_area: 10
  rune_center_max_area: 2000
  rune_center_1x1ratio_tol: 0.7
  rune_center_fill_ratio_min: 0.3

  rune_target_min_area: 100
  rune_target_max_area: 3000
  rune_target_max_square_ratio: 1.3
  rune_target_cluster_radius: 70

  bin_threshold: 50
  color_diff_threshold: 40


rune_where:
  roll_opt:
    mode: golden
    golden_search_side_deg: 60

rune_tracker:
  lost_time_thres: 2.0
  tracking_thres: 5
  max_dis_diff: 1.0
  match_gate: 15.0
  esekf_iter_num: 2
  q_roll: 10.0
  q_xyz: 0.5
  q_yaw: 0.5
  yp_r: 0.01
  dis_r: 0.05
  yaw_r: 0.1
  roll_r: 0.2
  big_window_sec: 2.0

aimer:
  prediction_delay: -0.00
  shooting_range_h: 0.1
  shooting_range_w: 0.1
  min_enable_pitch_deg: 0.25
  min_enable_yaw_deg: 0.25
  base_offset:
      yaw: -3.0
      pitch: -0.0
  trajectory_offset:
    - d_max: 9
      d_min: 0
      h_max: 1.5
      h_min: -1
      pitch_off: -0
      yaw_off: -0
    - d_max: 10
      d_min: 9
      h_max: 0.4
      h_min: -1
      pitch_off: -0
      yaw_off: 0

trajectory_compensator:
  compenstator_type: resistance
  gravity: 9.8
  iteration_times: 20
  resistance: 0.092
  k1: 0.0190 #大弹丸double k1_c = 0.47; double k1 = k1_c * 1.169 * (2 * M_PI * 0.02125 * 0.02125) / 2 / 0.041;



auto_exposure:
  enable: false
  target_brightness: 15.0
  tolerance: 3.0
  step_gain: 15.0
  decay_step: 1.0
  exposure_min: 100.0
  exposure_max: 2500.0
  control_interval_ms: 300