ll:
  bind_ip: "172.16.78.1"

  services:
    diff_drive:
      # TODO: Set this to values for your mower
      wheel_distance_m: 0.325
      # TODO: Set this to values for your mower
      ticks_per_m: 1600.0
    sound:
      language: "en"
      volume: -1
    gps:
      baud_rate: 921600
      protocol: "NMEA"
      datum_height: 0
      absolute_coords: true
      # Set to coordinates near your docking station, this will be your map origin
      datum_lat: 53.457452
      datum_long: 10.014737
      port_index: 8
    imu:
      # TODO: Set according to your mainboard orientation. This value is correct for "flat mainboard"
      axis_config: "+X-Y-Z"
    power:
      # TODO: Set these to values for your battery
      battery_full_voltage: 20.0
      battery_empty_voltage: 18.5
      battery_critical_voltage: 16.5
      battery_critical_high_voltage: 21.0
      charge_critical_high_voltage: 30.0
      charge_critical_high_current: 1.5

xbot_positioning:
  # TODO: Set this to values for your mower
  antenna_offset_x: 0.3
  # TODO: Set this to values for your mower
  antenna_offset_y: 0.0
  max_gps_accuracy: 0.2
  debug: false

ntrip_client:
  reconnect_attempt_max: 5
  reconnect_attempt_wait_seconds: 99999
  host: "www.your-ntrip-caster.de"
  port: 2101
  username: "ntripuser"
  password: "ntrippass"
  mountpoint: "ntripmount"

mower_logic:
  automatic_mode: 0
  docking_approach_distance: 1.0
  docking_extra_time: 1.0
  docking_retry_count: 3
  docking_redock: false
  outline_overlap_count: 1
  mow_angle_offset: 0
  mow_angle_offset_is_absolute: false
  mow_angle_increment: 0
  gps_wait_time: 10.0
  gps_timeout: 5.0
  rain_mode: 0
  rain_delay_minutes: 30
  rain_check_seconds: 20
  cu_rain_threshold: -1
  undock_angled_distance: 0.0
  undock_angle: 0.0
  undock_fixed_angle: true
  undock_use_curve: false
  emergency_lift_period: -1
  emergency_tilt_period: -1
  ignore_charging_current: false
  # Once you validated the functionality of your emergency sensors,
  # set this to true to enable the mow-motor
  enable_mower: false

xbot_monitoring:
  external_mqtt_enable: false