| | {
|
| | "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 }
|
| | ]
|
| | }
|
| | }
|
| |
|
