schema_version: 1

vehicle:
  vehicle_id: "example_vehicle"
  body_frame:
    name: "base_link"
    axes: "X forward, Y left, Z up"
    unit: m

installation:
  installation_id: "example_install"
  installed_at: "unknown"
  notes: "V1 example config. Mount translations may stay null."

sensors:
  imu:
    model: "unknown_imu"
    raw_frame:
      axes: "declare after black-box tests: e.g. out_x=forward, out_y=left, out_z=up"
      driver_axis_remapped: false
    mount_in_body:
      translation_m: null
      rotation_quaternion_xyzw: null

  lidar:
    model: "unknown_lidar"
    points_field: points
    raw_frame:
      axes: "X forward, Y left, Z up (Cartesian metres in NPZ points)"
      driver_axis_remapped: false
    mount_in_body:
      translation_m: null
      rotation_quaternion_xyzw: null

  rtk:
    frame_definition: ""
    reference_point: ""
    existing_T_RTK_LIDAR_file: ""

time:
  imu_timestamp_source: "device_or_file_clock_seconds"
  lidar_timestamp_source: "frame_midpoint_seconds"
  lidar_frame_time_definition: "t_start/t_end in frames_index.csv; pipeline uses midpoint"

initialization:
  translation_prior:
    enabled: false
    sigma_m: null
  rotation_prior:
    enabled: false
    sigma_deg: null
