{
  "SettingsVersion": 1.2,
  "SimMode": "Multirotor",
  "ViewMode":"FlyWithMe",
  
  "TimeOfDay": {
    "Enabled": false,
    "StartDateTime": "",
    "CelestialClockSpeed": 1,
    "StartDateTimeDst": false,
    "UpdateIntervalSecs": 60
  },
  "OriginGeopoint": {
    "Latitude": 47.641468,
    "Longitude": -122.140165,
    "Altitude": 122
  },
  "TimeOfDay": {
    "Enabled": false,
    "StartDateTime": "",
    "CelestialClockSpeed": 1,
    "StartDateTimeDst": false,
    "UpdateIntervalSecs": 60
  },
  "SubWindows": [
    {"WindowID": 0, "CameraName": "0", "ImageType": 3, "VehicleName": "", "Visible": false, "External": false},
    {"WindowID": 1, "CameraName": "0", "ImageType": 5, "VehicleName": "", "Visible": false, "External": false},
    {"WindowID": 2, "CameraName": "0", "ImageType": 0, "VehicleName": "", "Visible": false, "External": false}
  ],

  "Vehicles": {
    "drone_1": {
      "VehicleType": "SimpleFlight",
      "X":0,
      "Y":0,
      "Yaw":0,
      "Z":0,
      "DefaultVehicleState": "Armed",
      "EnableCollisionPassthrogh": false,
      "EnableCollisions": true,
      "AllowAPIAlways": true,
      "RC": {
        "RemoteControlID": 0,
        "AllowAPIWhenDisconnected": false
      },
      "Sensors": {      
        "Lidar1": {
          "SensorType": 6,
          "Enabled": true,
          "Range":200,
          "NumberOfChannels": 64,
          "RotationsPerSecond": 10,
          "PointsPerSecond": 100000,
          "X": 0,
          "Y": 0,
          "Z": -1,
          "Roll": 0,
          "Pitch": 0,
          "Yaw": 0,
          "VerticalFOVUpper": 30,
          "VerticalFOVLower": -30,
          "HorizontalFOVStart": -180,
          "HorizontalFOVEnd": 180,
          "DrawDebugPoints": true,
          "DataFrame": "SensorLocalFrame"
        }
      },
      "Cameras": {
        "front_left": {
          "CaptureSettings": [
            {
              "ImageType": 0,
              "Width": 1920,
              "Height": 1080,
              "FOV_Degrees": 90,
              "TargetGamma": 1.0
            }
          ],
          "X": 0.0,
          "Y": -0.3,
          "Z": 0,
          "Pitch": 0,
          "Roll": 0,
          "Yaw": -90
        },
        "front_right": {
          "CaptureSettings": [
            {
              "ImageType": 0,
              "Width": 1920,
              "Height": 1080,
              "FOV_Degrees": 90,
              "TargetGamma": 1.0
            }
          ],
          "X": 0.0,
          "Y": 0.3,
          "Z": 0,
          "Pitch": 0,
          "Roll": 0,
          "Yaw": 90
        },
        "bottom_center": {
          "CaptureSettings": [
            {
              "ImageType": 0,
              "Width": 1920,
              "Height": 1080,
              "FOV_Degrees": 90,
              "TargetGamma": 1.0
            }
          ],
          "X": 0.0,
          "Y": 0.0,
          "Z": -0.1,
          "Pitch": -90,
          "Roll": 0,
          "Yaw": 0
        },
        "back_center": {
          "CaptureSettings":[
            {
              "ImageType": 0,
              "Width": 1920,
              "Height": 1080,
              "FOV_Degrees": 90,
              "TargetGamma": 1.0
            }
          ],
          "X": -0.3,
          "Y": 0,
          "Z": 0,
          "Pitch": 0,
          "Roll": 0,
          "Yaw": 180
        },
        "front_center": {
          "CaptureSettings":[
            {
              "ImageType": 0,
              "Width": 1920,
              "Height": 1080,
              "FOV_Degrees": 90,
              "TargetGamma": 1.0
            }
          ],
          "X": 0.3,
          "Y": 0,
          "Z": 0,
          "Pitch": 0,
          "Roll": 0,
          "Yaw": 0
        }
      }
    }      
  },
  "Recording": {
    "RecordOnMove": false,
    "RecordInterval": 0.05,
    "Enabled": false,
    "Cameras": [
        { "CameraName": "front_left", "ImageType": 0, "PixelsAsFloat": false,  "VehicleName": "drone_1", "Compress": false },
        { "CameraName": "front_right", "ImageType": 0, "PixelsAsFloat": false,  "VehicleName": "drone_1", "Compress": false },
        { "CameraName": "front_center", "ImageType": 0, "PixelsAsFloat": false,  "VehicleName": "drone_1", "Compress": false },
        { "CameraName": "bottom_center", "ImageType": 0, "PixelsAsFloat": false,  "VehicleName": "drone_1", "Compress": false },
        { "CameraName": "back_center", "ImageType": 0, "PixelsAsFloat": false,  "VehicleName": "drone_1", "Compress": false }
    ]
  }
}