schema_version: 1

vehicle:
  vehicle_id: "S2_old_validation"
  body_frame:
    name: "rear_axle_center"
    axes: "X forward, Y left, Z up"
    unit: m

installation:
  installation_id: "S2_old_smoke"
  installed_at: "unknown"
  notes: "Smoke-test on old S2 host-time data only. Not for delivery."

sensors:
  imu:
    model: "HI13_old_S2"
    raw_frame:
      axes: "as exported HI91"
      driver_axis_remapped: false
    mount_in_body:
      translation_m: null
      rotation_quaternion_xyzw: null

  lidar:
    model: "frontlidar"
    points_field: points
    raw_frame:
      axes: "Cartesian metres from points_raw spherical conversion"
      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: "host_utc_receive_of_serial_chunk"
  lidar_timestamp_source: "unix_time_ns_from_dlog_export"
  lidar_frame_time_definition: "frame midpoint approx from unix_time_ns"

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