# uwb_config.yaml — MaUWB ESP32-S3 DW3000 UWB follow-me system
#
# Hardware layout:
#   Anchor-0 (port side)      → USB port_a, y = +anchor_separation/2
#   Anchor-1 (starboard side) → USB port_b, y = -anchor_separation/2
#   Tag on person             → belt clip, ~0.9m above ground
#
# Run with:
#   ros2 launch saltybot_uwb uwb.launch.py
# Override at launch:
#   ros2 launch saltybot_uwb uwb.launch.py port_a:=/dev/ttyUSB2

# ── Serial ports ──────────────────────────────────────────────────────────────
# Set udev rules to get stable symlinks:
#   /dev/uwb-anchor0  → port_a
#   /dev/uwb-anchor1  → port_b
# (See jetson/docs/pinout.md for udev setup)
port_a:    /dev/uwb-anchor0      # Anchor-0 (port)
port_b:    /dev/uwb-anchor1      # Anchor-1 (starboard)
baudrate:  115200                 # MaUWB default — do not change

# ── Anchor geometry ────────────────────────────────────────────────────────────
# anchor_separation: centre-to-centre distance between anchors (metres)
#   Must match physical mounting. Larger = more accurate lateral resolution.
anchor_separation: 0.25          # metres (25cm)

# anchor_height: height of anchors above ground (metres)
#   Orin stem mount ≈ 0.80m on the saltybot platform
anchor_height: 0.80              # metres

# tag_height: height of person's belt-clip tag above ground (metres)
tag_height: 0.90                 # metres (adjust per user)

# ── Range validity ─────────────────────────────────────────────────────────────
# range_timeout_s: stale anchor — excluded from triangulation after this gap
range_timeout_s: 1.0             # seconds

# max_range_m: discard ranges beyond this (DW3000 indoor practical limit ≈8m)
max_range_m: 8.0                 # metres

# min_range_m: discard ranges below this (likely multipath artefacts)
min_range_m: 0.05                # metres

# ── Kalman filter ──────────────────────────────────────────────────────────────
# kf_process_noise: Q scalar — how dynamic the person's motion is
#   Higher → faster response, more jitter
kf_process_noise: 0.1

# kf_meas_noise: R scalar — how noisy the UWB ranging is
#   DW3000 indoor accuracy ≈ 10cm RMS → 0.1m → R ≈ 0.01
#   Use 0.3 to be conservative on first deployment
kf_meas_noise: 0.3

# ── Publish rate ──────────────────────────────────────────────────────────────
# Should match or exceed the AT+RANGE? poll rate from both anchors.
# 20Hz means 50ms per cycle; each anchor query takes ~10ms → headroom ok.
publish_rate: 20.0               # Hz