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settings.json
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settings.json
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{
"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
"SettingsVersion": 1.2,
"SimMode": "Multirotor",
"ViewModeX": "NoDisplay",
"ViewModeXX": "SpringArmChase",
"ViewMode": "Fpv",
"Vehicles": {
"drone_1": {
"VehicleType": "SimpleFlight",
"DefaultVehicleState": "Inactive",
"Sensors": {
"Barometer": {
"SensorType": 1,
"Enabled": false
},
"Imu": {
"SensorType": 2,
"Enabled": true
},
"Gps": {
"SensorType": 3,
"Enabled": false
},
"Magnetometer": {
"SensorType": 4,
"Enabled": false
},
"Distance": {
"SensorType": 5,
"Enabled": false
},
"Lidar": {
"SensorType": 6,
"Enabled": false,
"NumberOfChannels": 16,
"RotationsPerSecond": 10,
"PointsPerSecond": 100000,
"X": 0,
"Y": 0,
"Z": -1,
"Roll": 0,
"Pitch": 0,
"Yaw": 0,
"VerticalFOVUpper": 0,
"VerticalFOVLower": -0,
"HorizontalFOVStart": -90,
"HorizontalFOVEnd": 90,
"DrawDebugPoints": true,
"DataFrame": "SensorLocalFrame"
}
},
"Cameras": {
"front_center_custom": {
"CaptureSettings": [
{
"PublishToRos": 1,
"ImageType": 0,
"Width": 640,
"Height": 480,
"FOV_Degrees": 90,
"DepthOfFieldFstop": 2.8,
"DepthOfFieldFocalDistance": 200.0,
"DepthOfFieldFocalRegion": 200.0,
"TargetGamma": 1.5
},
{
"PublishToRos": 1,
"ImageType": 1,
"Width": 640,
"Height": 480,
"FOV_Degrees": 90,
"DepthOfFieldFstop": 2.8,
"DepthOfFieldFocalDistance": 200.0,
"DepthOfFieldFocalRegion": 200.0,
"TargetGamma": 1.5
}
],
"Pitch": 0.0,
"Roll": 0.0,
"X": 0.3,
"Y": 0.0,
"Yaw": 0.0,
"Z": -0.2
},
"front_center_custom_2": {
"CaptureSettings": [
{
"PublishToRos": 1,
"ImageType": 0,
"Width": 640,
"Height": 480,
"FOV_Degrees": 90,
"DepthOfFieldFstop": 2.8,
"DepthOfFieldFocalDistance": 200.0,
"DepthOfFieldFocalRegion": 200.0,
"TargetGamma": 1.5
}
],
"Pitch": 0.0,
"Roll": 0.0,
"X": 0.3,
"Y": 0.2,
"Yaw": 0.0,
"Z": -0.2
}
}
}
}
}