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{
"SimMode" : "Multirotor",
"SettingsVersion" : 1.2,
"SeeDocsAt" : "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
"Vehicles": {
"PX4": {
"VehicleType": "PX4Multirotor",
"UseSerial": false,
"DefaultVehicleState": "Armed",
"AutoCreate": true,
"PawnPath": "",
"EnableCollisionPassthrogh": false,
"EnableCollisions": true,
"AllowAPIAlways": true,
"RC": {
"RemoteControlID": 0,
"AllowAPIWhenDisconnected": false
},
"Cameras": {
"front-left": {
"X": 0.50, "Y": -0.06, "Z": 0.10,
"Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0,
"CaptureSettings": [
{
"ImageType": 0,
"Width": 752,
"Height": 480,
"FOV_Degrees": 90
}
]
},
"front-right": {
"X": 0.50, "Y": 0.06, "Z": 0.10,
"Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0,
"CaptureSettings": [
{
"ImageType": 0,
"Width": 752,
"Height": 480,
"FOV_Degrees": 90
}
]
}
},
"Sensors": {
"Barometer": {
"SensorType": 1,
"Enabled": true
},
"Imu": {
"SensorType": 2,
"Enabled": true
},
"Gps": {
"SensorType": 3,
"Enabled": false
},
"Magnetometer": {
"SensorType": 4,
"Enabled": true
},
"Distance": {
"SensorType": 5,
"Enabled": true
},
"Lidar1": {
"SensorType": 6,
"Enabled": true,
"NumberOfChannels": 2,
"PointsPerSecond": 5000,
"RotationsPerSecond": 10,
"VerticalFOVUpper": 0.1,
"VerticalFOVLower": -0.1,
"Range": 40
}
}
}
}
}