# uwb_config.yaml — MaUWB ESP32-S3 DW3000 UWB integration (Issue #90)
#
# Run with:
#   ros2 launch saltybot_uwb uwb.launch.py

port_a:    /dev/uwb-anchor0
port_b:    /dev/uwb-anchor1
baudrate:  115200

anchor_separation: 0.25
anchor_height:     0.80
tag_height:        0.90

range_timeout_s: 1.0
max_range_m:     8.0
min_range_m:     0.05

kf_process_noise: 0.1
kf_meas_noise:    0.3

range_rate:   100.0
bearing_rate: 10.0

enrolled_tag_ids: [""]
