pan_tilt:
  # Serial communication
  port: /dev/ttyUSB0          # UART port for SCS servo bus
  baudrate: 1000000           # 1Mbps for SCS/STS protocol

  # Camera parameters (Intel RealSense D435i)
  image_width: 848             # D435i resolution
  image_height: 480            # D435i resolution
  fov_h_deg: 87.0              # Horizontal field of view
  fov_v_deg: 58.0              # Vertical field of view

  # Motor control
  max_pan_speed: 100           # Pan servo max speed (0-1000, 0=max)
  max_tilt_speed: 100          # Tilt servo max speed (0-1000, 0=max)

  # Servo positions
  pan_center: 2048             # Center position for pan servo
  tilt_center: 2048            # Center position for tilt servo
  pan_min: 0                   # Minimum pan position
  pan_max: 4095                # Maximum pan position
  tilt_min: 1024               # Minimum tilt position (avoid upside down)
  tilt_max: 3072               # Maximum tilt position (avoid looking too far down)
