[controller]
# linear: 世界系位置 PID + 姿态内环
# geometric: SE(3) 几何位置控制 + 四元数姿态内环
mode = "geometric"
max_tilt = 0.35  # rad，仅 linear 外环限幅

[position.linear]
kp = 8.8
ki = 0.2
kd = 0.9

[position.geometric]
kp = 2.5
ki = 0.4
kd = 2.0

[attitude.linear]
kp = 8.0
ki = 0.5
kd = 0.6

[attitude.geometric]
kp = 10.0
ki = 0.8
kd = 0.8

[eval]
initial_height = 2.0

[eval.hover]
duration = 8.0

[eval.step]
step_time = 2.0
duration = 12.0
step_z = 3.0
step_x = 3.0
step_y = 2.0

[eval.takeoff_forward]
ground_z = 0.0
hover_z = 2.0
forward_x = 4.0
takeoff_time = 3.0
hover_time = 2.0
forward_time = 6.0

[eval.circle]
ground_z = 0.0
takeoff_time = 2.0
radius = 2.5
height = 2.0
period = 10.0
duration = 20.0