Agent configuration

The agent’s configuration lives in one YAML file, /etc/ados/config.yaml. Its shape is defined by schemas/agent-config.schema.json in the agent repository, and every key has a default, so a short file (or none) gives a working agent. The browser dashboard and Mission Control cover the settings most operators change. Edit the file, or use the REST API, for everything else. Extensions keep their settings in their own plugin config, not in this file; see Plugins.

How the file is loaded

Services read /etc/ados/config.yaml through the ADOS_CONFIG path their systemd unit sets, which points there. Keys missing from the file fall back to the packaged defaults, merged under the file. Keys the running schema does not recognise are kept on write rather than dropped, so a config from a newer or older build survives a round trip. ados config status shows pending migrations, and ados config migrate brings the file to the current shape. See Agent CLI reference.

What the installer writes

The installer writes the node’s identity, profile and the flight-controller port it detected at install (empty if none was attached), with the default baud. Your edits take priority over the defaults.

Read and write the config

From the REST API

# Read
curl http://localhost:8080/api/config \
  -H "X-ADOS-Key: $KEY"

# Write one dot-separated key; a JSON scalar (true, 25) or a string ("25") is accepted
curl -X PUT http://localhost:8080/api/config \
  -H "X-ADOS-Key: $KEY" \
  -H "Content-Type: application/json" \
  -d '{"key": "video.camera.fps", "value": 25}'

The response carries persisted. A write that changed the running model but could not reach /etc/ados/config.yaml answers "persisted": false with a persist_error naming the reason:

{ "status": "ok", "key": "video.camera.fps", "value": 25, "persisted": true }

Reading a secret path returns ***. Writing that placeholder back is rejected with a 400, so a read-edit-write round trip cannot overwrite a real secret. PUT /api/config of a profile, role, radio or regulatory key is refused while the vehicle is armed. GET /api/config/schema returns the embedded schema; build a settings UI against it. See REST API.

Edit the file

Edit /etc/ados/config.yaml with any text editor, then restart the affected service, for example:

sudo systemctl restart ados-mavlink

The unit for each subsystem is on Systemd services. The terminal dashboard is read-only and does not edit config.

Settings that need care

MAVLink proxy authentication

mavlink:
  source: "auto"                   # auto | serial | udp | tcp
  serial_port: ""                  # autodetected when empty
  baud_rate: 57600                 # applies only when serial_port is set
  legacy_stream_request: false
  ws_proxy_enforce_auth: true      # a paired node refuses an unauthorised WebSocket
  raw_proxy_enforce_auth: true     # refuse off-box raw peers (TCP 5760, UDP 14550/14551) except on-box and first-boot lifelines
  raw_proxy_lan_access: false      # true serves off-box raw peers regardless of raw_proxy_enforce_auth

Leave raw_proxy_enforce_auth at true and raw_proxy_lan_access at false. Setting raw_proxy_enforce_auth: false lets any host on the LAN write to the flight controller of an unpaired drone, and raw_proxy_lan_access: true serves every off-box peer on the raw ports whatever raw_proxy_enforce_auth says, because the raw ports carry no credential. With serial_port empty the agent ignores baud_rate and sweeps common rates for a heartbeat, so a default-config drone often runs at 115200 even though the file says 57600. To pin a rate, set both keys. Check what the link settled on with ados status. See MAVLink proxy.

Profile

agent.profile: "auto" lets the agent detect the profile at boot. workstation and compute are never auto-detected; they are chosen at install time with --profile. ados profile set persists only drone and ground_station. Detection rules are on Node profiles.

Hotspot passphrase

network:
  hotspot:
    password: ""

Empty is the default and means “generate a per-unit passphrase on first use”. The generated value is written mode 0600 to /etc/ados/ap-passphrase and shown on the OLED access-point page, in the terminal dashboard and on the installer’s completion card. Read it with ados network ap-passphrase.

A configured value takes precedence over the generated one, so naming a passphrase here gives every unit in your fleet the same key. Set it only to pin a deliberate shared passphrase.

Cloud server mode

server:
  mode: "local"              # local | cloud | self_hosted
  cloud:
    url: "https://convex-site.altnautica.com"
    mqtt_broker: "mqtt.altnautica.com"
    mqtt_port: 443
  self_hosted:
    url: "https://cloud.example.com:3211"    # Convex site origin (HTTP actions)
    mqtt_broker: "mqtt.example.com"
    mqtt_port: 8883
    api_key: ""

local (default): no cloud connectivity; Mission Control reaches the node over the LAN.
cloud: connects to the hosted backend shown under cloud:.
self_hosted: connects to your own broker and Convex deployment.

The heartbeat runs every 5 seconds and is fixed; there is no setting for it or for the telemetry publish rate.

For self_hosted, url must point at the Convex site origin on :3211 (HTTP actions: pairing register, heartbeat, command poll), not the client API on :3210. A :3210 URL sends the register call to the wrong origin and returns 404. See Self-hosting: Agent.

Pairing backend URL

pairing.convex_url is the origin the pairing beacon and heartbeat call. A self-hosted deployment must set it to its own site origin: setting server.mode: self_hosted and filling server.self_hosted is not enough on its own. See Self-hosting: Agent.

MQTT broker TLS

The telemetry gateway always connects to the broker over TLS, verified against the system trust store, and authenticates as the device id unless server.mqtt_username names another user. server.mqtt_plaintext_dev: true turns TLS off for a development broker; the password then crosses the network in clear text.

LAN transport

The HTTP API on port 8080 is plain HTTP on the LAN, with the pairing key at the auth edge. There is no device TLS or WireGuard setting: keep the node on a network you trust, or reach it through the cloud relay or a tunnel. See Hardening.

Video mode and codec

video:
  mode: "wfb"      # wfb (radio; boots the thumbnail profile until a hero is chosen) | disabled | other values run LAN/cloud-only at full rate
  camera:
    codec: "h264"

The schema default is wfb; the installer writes auto. Only disabled (video exits) and wfb (thumbnail at boot) change behaviour. Use h264 for browser playback: WebRTC and MSE players expect H.264 High Profile. See Video pipeline.

Radio link

The video.wfb keys (channel, TX power and its ceiling, FEC, fleet slot, regulatory domain, link presets, adaptive bitrate and auto-hop) are documented on WFB-ng. The full list is in the video table below.

Vision backend

vision:
  enabled: false
  backend: "auto"  # auto | rknn | hailo | onnx | mock

auto selects rknn on a Rockchip SoC, otherwise the ONNX CPU backend when the build includes it, otherwise mock (no detections). Set hailo explicitly for a Raspberry Pi 5 AI HAT.

Swarm

The swarm: block (enabled, wifi_direct, role, default_formation, default_spacing, mode, flock, separation, tasks) is documented on Swarm bus.

All keys by section

Each table is generated from the config schema. Secret keys show “Secret, not shown”.

Section	Covered on
`agent`	Node profiles
`api`, `security`	REST API
`battery`	Battery health
`discovery`, `pairing`	Pairing
`ground_station`	Ground Agent setup
`logging`	Black Box
`mavlink`	MAVLink proxy
`network`	Wi-Fi access point
`radio`	ELRS and CRSF control lane
`remote_access`, `server`	Cloud relay
`swarm`	Swarm bus
`ui`	Agent dashboard: Settings
`video`	Video pipeline, WFB-ng
`vision`	Vision backend

agent

Key	Type	Default	Allowed	Description
`agent.device_id`	string	`""`	n/a	Device Id
`agent.headless`	boolean	`false`	n/a	Headless
`agent.name`	string	`"my-drone"`	n/a	Name
`agent.profile`	string	`"auto"`	`"auto"`, `"drone"`, `"ground_station"`, `"workstation"`, `"compute"`	Profile
`agent.tier`	string	`"auto"`	n/a	Tier

api

Key	Type	Default	Allowed	Description
`api.mission_control_url`	string	`""`	n/a	Mission Control Url
`api.rest.enabled`	boolean	`true`	n/a	Enabled
`api.rest.host`	string	`"0.0.0.0"`	n/a	Host
`api.rest.port`	integer	`8080`	0 to 65535	Port

battery

Key	Type	Default	Allowed	Description
`battery.cell_divergence_mv`	integer	`50`	10 to 500	Cell Divergence Mv
`battery.critical_cell_mv`	integer	`3300`	2500 to 4000	Critical Cell Mv
`battery.enabled`	boolean	`true`	n/a	Enabled
`battery.low_cell_mv`	integer	`3500`	2500 to 4200	Low Cell Mv
`battery.predictive_window_s`	integer	`30`	5 to 300	Predictive Window S
`battery.reserve_percent`	integer	`25`	5 to 50	Reserve Percent
`battery.temp_spike_dc_per_s`	integer	`50`	5 to 200	Temp Spike Dc Per S
`battery.voltage_drop_mv_per_s`	integer	`500`	100 to 5000	Voltage Drop Mv Per S

discovery

Key	Type	Default	Allowed	Description
`discovery.mdns_enabled`	boolean	`true`	n/a	Mdns Enabled
`discovery.service_type`	string	`"_ados._tcp.local."`	n/a	Service Type

ground_station

Key	Type	Default	Allowed	Description
`ground_station.cloud_uplink`	string	`"auto"`	`"auto"`, `"force_on"`, `"force_off"`	Cloud Uplink
`ground_station.display.type`	string	`"auto"`	`"auto"`, `"hdmi"`, `"lcd"`, `"none"`	Type
`ground_station.kiosk.enabled`	boolean	`true`	n/a	Enabled
`ground_station.kiosk.minimal_layer`	boolean	`false`	n/a	Minimal Layer
`ground_station.kiosk.resolution`	string	`"auto"`	n/a	Resolution
`ground_station.kiosk.target_url`	string\|null	n/a	n/a	Target Url
`ground_station.mesh.bat_iface`	string	`"bat0"`	n/a	Bat Iface
`ground_station.mesh.carrier`	string	`"802.11s"`	`"802.11s"`, `"ibss"`	Carrier
`ground_station.mesh.channel`	integer	`1`	1 to 13	Channel
`ground_station.mesh.interface_override`	string\|null	n/a	n/a	Interface Override
`ground_station.mesh.mesh_id`	string\|null	n/a	n/a	Mesh Id
`ground_station.mesh.shared_key_path`	string	`"/etc/ados/mesh/psk.key"`	n/a	Shared Key Path
`ground_station.paired_at`	string\|null	n/a	n/a	Paired At
`ground_station.paired_drone_id`	string\|null	n/a	n/a	Paired Drone Id
`ground_station.role`	string	`"direct"`	`"direct"`, `"relay"`, `"receiver"`	Role
`ground_station.share_uplink`	boolean	`false`	n/a	Share Uplink
`ground_station.ui.buttons`	object	`{}`	n/a	Buttons
`ground_station.ui.oled`	object	`{}`	n/a	Oled
`ground_station.ui.screens`	object	`{}`	n/a	Screens
`ground_station.wfb_receiver.accept_local_nic`	boolean	`true`	n/a	Accept Local Nic
`ground_station.wfb_receiver.listen_port`	integer	`5800`	0 to 65535	Listen Port
`ground_station.wfb_relay.receiver_mdns_service`	string	`"_ados-receiver._tcp"`	n/a	Receiver Mdns Service
`ground_station.wfb_relay.receiver_port`	integer	`5800`	0 to 65535	Receiver Port

logging

Key	Type	Default	Allowed	Description
`logging.flight_log_dir`	string	`"/var/ados/logs/flights"`	n/a	Flight Log Dir
`logging.keep_count`	integer	`5`	0 to 4294967295	Keep Count
`logging.level`	string	`"info"`	n/a	Level
`logging.max_size_mb`	integer	`50`	0 to 4294967295	Max Size Mb
`logging.store.enabled`	boolean	`false`	n/a	Enabled

mavlink

Key	Type	Default	Allowed	Description
`mavlink.adopt_slot_system_id`	boolean	`false`	n/a	Adopt Slot System Id
`mavlink.agent_signing`	boolean	`false`	n/a	Agent Signing
`mavlink.aux_uplink_enforce_origin`	boolean	`false`	n/a	Aux Uplink Enforce Origin
`mavlink.baud_rate`	integer	`57600`	0 to 4294967295	Baud Rate
`mavlink.component_id`	integer	`191`	0 to 255	Component Id
`mavlink.endpoints`	array	`[{"enabled":true,"host":"0.0.0.0","port":8765,"type":"websocket"}]`	n/a	Endpoints
`mavlink.endpoints[].enabled`	boolean	`true`	n/a	Enabled
`mavlink.endpoints[].host`	string	`"0.0.0.0"`	n/a	Host
`mavlink.endpoints[].port`	integer	`8765`	0 to 65535	Port
`mavlink.endpoints[].type`	string	`"websocket"`	n/a	Type
`mavlink.injector_arbitration`	boolean	`false`	n/a	Injector Arbitration
`mavlink.legacy_stream_request`	boolean	`false`	n/a	Legacy Stream Request
`mavlink.raw_proxy_enforce_auth`	boolean	`true`	n/a	Raw Proxy Enforce Auth
`mavlink.raw_proxy_lan_access`	boolean	`false`	n/a	Raw Proxy Lan Access
`mavlink.route_aware`	boolean	`false`	n/a	Route Aware
`mavlink.serial_port`	string	`""`	n/a	Serial Port
`mavlink.source`	string	`"auto"`	`"auto"`, `"serial"`, `"udp"`, `"tcp"`	Source
`mavlink.system_id`	integer	`1`	0 to 255	System Id
`mavlink.ws_proxy_enforce_auth`	boolean	`true`	n/a	Ws Proxy Enforce Auth

network

Key	Type	Default	Allowed	Description
`network.cellular.apn`	string	`""`	n/a	Apn
`network.cellular.enabled`	boolean	`false`	n/a	Enabled
`network.hotspot.channel`	integer	`6`	0 to 255	Channel
`network.hotspot.enabled`	boolean	`false`	n/a	Enabled
`network.hotspot.interface`	string	`""`	n/a	Interface
`network.hotspot.password`	string	Secret, not shown	n/a	Password
`network.hotspot.ssid`	string	`"ADOS-{device_id}"`	n/a	Ssid
`network.mac_pin.apply_live_allowed`	boolean	`false`	n/a	Apply Live Allowed
`network.mac_pin.enabled`	boolean	`true`	n/a	Enabled
`network.mac_pin.overrides`	object	`{}`	n/a	Overrides
`network.management_link_guardian.enabled`	boolean	`true`	n/a	Enabled
`network.management_link_guardian.fail_threshold`	integer	`2`	0 to 4294967295	Fail Threshold
`network.management_link_guardian.fast_initial_tick_interval_s`	integer	`5`	0 to 9223372036854776000	Fast Initial Tick Interval S
`network.management_link_guardian.fast_initial_window_s`	integer	`60`	0 to 9223372036854776000	Fast Initial Window S
`network.management_link_guardian.repair_window_s`	integer	`600`	0 to 9223372036854776000	Repair Window S
`network.management_link_guardian.repairs_per_window`	integer	`5`	0 to 4294967295	Repairs Per Window
`network.management_link_guardian.tick_interval_s`	integer	`30`	0 to 9223372036854776000	Tick Interval S
`network.mgmt_failover.down_debounce_s`	integer	`20`	0 to 9223372036854776000	Down Debounce S
`network.mgmt_failover.enabled`	boolean	`true`	n/a	Enabled
`network.mgmt_failover.recover_debounce_s`	integer	`15`	0 to 9223372036854776000	Recover Debounce S
`network.mgmt_failover.tick_interval_s`	integer	`5`	0 to 9223372036854776000	Tick Interval S
`network.reg_reconciler.domain`	string\|null	n/a	n/a	Domain
`network.reg_reconciler.enabled`	boolean	`true`	n/a	Enabled
`network.reg_reconciler.fast_initial_tick_interval_s`	integer	`5`	0 to 9223372036854776000	Fast Initial Tick Interval S
`network.reg_reconciler.fast_initial_window_s`	integer	`60`	0 to 9223372036854776000	Fast Initial Window S
`network.reg_reconciler.tick_interval_s`	integer	`30`	0 to 9223372036854776000	Tick Interval S
`network.regulatory.ack_at`	string\|null	n/a	n/a	Ack At
`network.regulatory.ack_operator`	string\|null	n/a	n/a	Ack Operator
`network.regulatory.mode`	string	`"unrestricted"`	`"unrestricted"`, `"region"`	Mode
`network.regulatory.region`	string\|null	n/a	n/a	Region
`network.regulatory.tx_pwr_by_rate`	integer	`0`	0 to 255	Tx Pwr By Rate
`network.usb_rehome.cooldown_s`	integer	`60`	0 to 9223372036854776000	Cooldown S
`network.usb_rehome.enabled`	boolean	`true`	n/a	Enabled
`network.usb_rehome.healthy_reset_s`	integer	`120`	0 to 9223372036854776000	Healthy Reset S
`network.usb_rehome.tick_interval_s`	integer	`5`	0 to 9223372036854776000	Tick Interval S
`network.watchdog.enabled`	boolean	`false`	n/a	Enabled
`network.wifi_client.enabled`	boolean	`false`	n/a	Enabled
`network.wifi_client.password`	string	Secret, not shown	n/a	Password
`network.wifi_client.ssid`	string	`""`	n/a	Ssid
`network.wifi_powersave.enabled`	boolean	`true`	n/a	Enabled
`network.wifi_powersave.fast_initial_tick_interval_s`	integer	`5`	0 to 9223372036854776000	Fast Initial Tick Interval S
`network.wifi_powersave.fast_initial_window_s`	integer	`60`	0 to 9223372036854776000	Fast Initial Window S
`network.wifi_powersave.tick_interval_s`	integer	`30`	0 to 9223372036854776000	Tick Interval S
`network.wifi_selfheal.cooldown_s`	integer	`60`	0 to 4294967295	Cooldown S
`network.wifi_selfheal.enabled`	boolean	`true`	n/a	Enabled
`network.wifi_selfheal.fail_threshold`	integer	`2`	0 to 4294967295	Fail Threshold

pairing

Key	Type	Default	Allowed	Description
`pairing.beacon_enabled`	boolean	`true`	n/a	Beacon Enabled
`pairing.beacon_interval`	integer	`30`	0 to 4294967295	Beacon Interval
`pairing.convex_url`	string	`""`	n/a	Convex Url
`pairing.heartbeat_interval`	integer	`60`	0 to 4294967295	Heartbeat Interval
`pairing.state_path`	string	`"/etc/ados/pairing.json"`	n/a	State Path

radio

Key	Type	Default	Allowed	Description
`radio.crsf.band`	string	`"dual"`	`"dual"`, `"900"`, `"2p4"`	Band
`radio.crsf.channel_source`	string	`"hid"`	`"hid"`, `"inject"`, `"hybrid"`	Channel Source
`radio.crsf.device`	string\|null	n/a	n/a	Device
`radio.crsf.enabled`	boolean	`false`	n/a	Enabled
`radio.crsf.mavlink_command_enabled`	boolean	`false`	n/a	Mavlink Command Enabled
`radio.crsf.mavlink_transport`	string	`"serial"`	`"serial"`, `"backpack_wifi"`	Mavlink Transport
`radio.crsf.mode`	string	`"crsf_rc"`	`"crsf_rc"`, `"mavlink"`, `"airport"`	Mode
`radio.crsf.packet_rate_hz`	integer	`150`	0 to 65535	Packet Rate Hz
`radio.crsf.relay_role`	string	`"none"`	`"none"`, `"repeater"`, `"agent_last_mile"`	Relay Role
`radio.crsf.tx_power_dbm`	integer\|null	n/a	-128 to 127	Tx Power Dbm
`radio.tunnel.command_enabled`	boolean	`false`	n/a	Command Enabled
`radio.tunnel.enabled`	boolean	`false`	n/a	Enabled
`radio.tunnel.rx_port`	integer	`5820`	0 to 65535	Rx Port

remote_access

Key	Type	Default	Allowed	Description
`remote_access.cloudflare.api_url`	string	`""`	n/a	Api Url
`remote_access.cloudflare.enabled`	boolean	`false`	n/a	Enabled
`remote_access.cloudflare.mavlink_ws_url`	string	`""`	n/a	Mavlink Ws Url
`remote_access.cloudflare.service_name`	string	`"cloudflared"`	n/a	Service Name
`remote_access.cloudflare.setup_url`	string	`""`	n/a	Setup Url
`remote_access.cloudflare.token_path`	string	`"/etc/ados/secrets/cloudflare-tunnel-token"`	n/a	Token Path
`remote_access.cloudflare.video_whep_url`	string	`""`	n/a	Video Whep Url
`remote_access.provider`	string	`"none"`	`"none"`, `"cloudflare"`	Provider
`remote_access.public_urls`	array	`[]`	n/a	Public Urls

security

Key	Type	Default	Allowed	Description
`security.api.api_key`	string	Secret, not shown	n/a	Api Key
`security.api.cors_enabled`	boolean	`true`	n/a	Cors Enabled
`security.api.cors_origins`	array	`["http://localhost:4000","http://127.0.0.1:4000","http://localhost:4001","http://127.0.0.1:4001"]`	n/a	Cors Origins
`security.api.cors_origins_extra`	array	`[]`	n/a	Cors Origins Extra
`security.hmac_enabled`	boolean	`false`	n/a	Hmac Enabled
`security.hmac_secret`	string	Secret, not shown	n/a	Hmac Secret
`security.setup_token_required`	boolean	`false`	n/a	Setup Token Required

server

Key	Type	Default	Allowed	Description
`server.cloud.mqtt_broker`	string	`"mqtt.altnautica.com"`	n/a	Mqtt Broker
`server.cloud.mqtt_port`	integer	`443`	0 to 65535	Mqtt Port
`server.cloud.url`	string	`"https://convex-site.altnautica.com"`	n/a	Url
`server.cloud_logs_enabled`	boolean	`false`	n/a	Cloud Logs Enabled
`server.mode`	string	`"local"`	`"cloud"`, `"self_hosted"`, `"local"`	Mode
`server.mqtt_transport`	string	`"websockets"`	n/a	Mqtt Transport
`server.self_hosted.api_key`	string	Secret, not shown	n/a	Api Key
`server.self_hosted.mqtt_broker`	string	`""`	n/a	Mqtt Broker
`server.self_hosted.mqtt_port`	integer	`8883`	0 to 65535	Mqtt Port
`server.self_hosted.url`	string	`""`	n/a	Url

swarm

Key	Type	Default	Allowed	Description
`swarm.default_formation`	string	`"line"`	`"line"`, `"column"`, `"wedge"`, `"grid"`, `"circle"`	Default Formation
`swarm.default_spacing`	integer	`10`	-9223372036854776000 to 9223372036854776000	Default Spacing
`swarm.enabled`	boolean	`false`	n/a	Enabled
`swarm.flock.alignment`	integer	`60`	-9223372036854776000 to 9223372036854776000	Alignment
`swarm.flock.cohesion`	integer	`40`	-9223372036854776000 to 9223372036854776000	Cohesion
`swarm.flock.neighbors`	integer	`7`	-9223372036854776000 to 9223372036854776000	Neighbors
`swarm.flock.radius_m`	integer	`30`	-9223372036854776000 to 9223372036854776000	Radius M
`swarm.flock.separation_gain`	integer	`150`	-9223372036854776000 to 9223372036854776000	Separation Gain
`swarm.mode`	string	`"hold"`	`"hold"`, `"flocking"`, `"formation"`	Mode
`swarm.role`	string	`"auto"`	n/a	Role
`swarm.separation.hard_m`	integer	`4`	-9223372036854776000 to 9223372036854776000	Hard M
`swarm.separation.radius_m`	integer	`8`	-9223372036854776000 to 9223372036854776000	Radius M
`swarm.tasks.assigned_task_id`	string\|null	n/a	n/a	Assigned Task Id
`swarm.tasks.bundle_position`	integer\|null	n/a	-9223372036854776000 to 9223372036854776000	Bundle Position
`swarm.tasks.enabled`	boolean	`false`	n/a	Enabled
`swarm.wifi_direct.enabled`	boolean	`false`	n/a	Enabled
`swarm.wifi_direct.interface`	string	`""`	n/a	Interface

Key	Type	Default	Allowed	Description
`ui.theme`	string	`"dark"`	`"dark"`, `"light"`	Theme

video

Key	Type	Default	Allowed	Description
`video.camera.bitrate_kbps`	integer	`4000`	0 to 4294967295	Bitrate Kbps
`video.camera.codec`	string	`"h264"`	n/a	Codec
`video.camera.encoder`	string	`"auto"`	`"auto"`, `"omx"`, `"v4l2m2m"`, `"software"`	Encoder
`video.camera.expected`	string	`"auto"`	`"auto"`, `"true"`, `"false"`	Expected
`video.camera.fps`	integer	`30`	0 to 4294967295	Fps
`video.camera.height`	integer	`720`	0 to 4294967295	Height
`video.camera.hflip`	boolean	`false`	n/a	Hflip
`video.camera.keyframe_interval`	integer	`0`	0 to 30	Keyframe Interval
`video.camera.passthrough`	boolean	`false`	n/a	Passthrough
`video.camera.rotation`	integer	`0`	0 to 4294967295	Rotation
`video.camera.source`	string	`"csi"`	n/a	Source
`video.camera.thumbnail.bitrate_kbps`	integer	`50`	0 to 4294967295	Bitrate Kbps
`video.camera.thumbnail.fps`	integer	`1`	0 to 4294967295	Fps
`video.camera.thumbnail.height`	integer	`180`	0 to 4294967295	Height
`video.camera.thumbnail.width`	integer	`320`	0 to 4294967295	Width
`video.camera.vflip`	boolean	`false`	n/a	Vflip
`video.camera.width`	integer	`1280`	0 to 4294967295	Width
`video.cameras`	array	`[]`	n/a	Cameras
`video.cameras[].bitrate_kbps`	integer	`4000`	0 to 4294967295	Bitrate Kbps
`video.cameras[].calibration`	string\|null	n/a	n/a	Calibration
`video.cameras[].codec`	string	`"h264"`	n/a	Codec
`video.cameras[].enabled`	boolean	`true`	n/a	Enabled
`video.cameras[].encoder`	string	`"auto"`	`"auto"`, `"omx"`, `"v4l2m2m"`, `"software"`	Encoder
`video.cameras[].fov_deg`	number\|null	n/a	n/a	Fov Deg
`video.cameras[].fps`	integer	`30`	0 to 4294967295	Fps
`video.cameras[].height`	integer	`720`	0 to 4294967295	Height
`video.cameras[].hflip`	boolean	`false`	n/a	Hflip
`video.cameras[].id`	string	`"main"`	n/a	Id
`video.cameras[].keyframe_interval`	integer	`0`	0 to 30	Keyframe Interval
`video.cameras[].match.csi_port`	integer\|null	n/a	0 to 4294967295	Csi Port
`video.cameras[].match.csi_sensor`	string\|null	n/a	n/a	Csi Sensor
`video.cameras[].match.usb`	string\|null	n/a	n/a	Usb
`video.cameras[].mount_pitch_deg`	number\|null	n/a	n/a	Mount Pitch Deg
`video.cameras[].name`	string\|null	n/a	n/a	Name
`video.cameras[].orientation`	string\|null	n/a	n/a	Orientation
`video.cameras[].owner`	string\|null	n/a	n/a	Owner
`video.cameras[].purpose`	array	n/a	n/a	Purpose
`video.cameras[].role`	string\|null	n/a	n/a	Role
`video.cameras[].rotation`	integer	`0`	0 to 4294967295	Rotation
`video.cameras[].source`	string	`"csi"`	n/a	Source
`video.cameras[].vflip`	boolean	`false`	n/a	Vflip
`video.cameras[].width`	integer	`1280`	0 to 4294967295	Width
`video.cloud_relay_url`	string	`""`	n/a	Cloud Relay Url
`video.lcd_fps_cap`	integer	`15`	1 to 60	Lcd Fps Cap
`video.mode`	string	`"wfb"`	n/a	Mode
`video.prefer_hw_encoder`	boolean	`true`	n/a	Prefer Hw Encoder
`video.profile`	string\|null	n/a	n/a	Profile
`video.recording.enabled`	boolean	`false`	n/a	Enabled
`video.recording.max_duration_minutes`	integer	`30`	0 to 4294967295	Max Duration Minutes
`video.recording.path`	string	`"/var/ados/recordings"`	n/a	Path
`video.recording.retention`	string	`"24h"`	n/a	Retention
`video.usb_recovery.allow_hub_reset`	boolean	`false`	n/a	Allow Hub Reset
`video.usb_recovery.allow_ppps`	boolean	`true`	n/a	Allow Ppps
`video.usb_recovery.allow_shared_hub_reset`	boolean	`false`	n/a	Allow Shared Hub Reset
`video.usb_recovery.boot_reset_window_s`	integer	`180`	1 to 4294967295	Boot Reset Window S
`video.usb_recovery.cold_boot_enum_aid`	boolean	`false`	n/a	Cold Boot Enum Aid
`video.usb_recovery.cooldown_s`	integer	`60`	1 to 4294967295	Cooldown S
`video.usb_recovery.debounce_s`	integer	`20`	1 to 4294967295	Debounce S
`video.usb_recovery.enabled`	boolean	`true`	n/a	Enabled
`video.usb_recovery.healthy_reset_s`	integer	`120`	1 to 4294967295	Healthy Reset S
`video.usb_recovery.tick_interval_s`	integer	`5`	1 to 4294967295	Tick Interval S
`video.vision.enabled`	boolean	`false`	n/a	Enabled
`video.vision.format`	string	`"rgb24"`	n/a	Format
`video.vision.fps`	integer	`10`	0 to 4294967295	Fps
`video.vision.height`	integer	`480`	0 to 4294967295	Height
`video.vision.sink`	string	`"/run/ados/vision-tap-main.sock"`	n/a	Sink
`video.vision.width`	integer	`640`	0 to 4294967295	Width
`video.wfb.adaptive_bitrate_enabled`	boolean	`true`	n/a	Adaptive Bitrate Enabled
`video.wfb.adaptive_mcs_max`	integer	`3`	0 to 255	Adaptive Mcs Max
`video.wfb.auto_channel_enabled`	boolean	`false`	n/a	Auto Channel Enabled
`video.wfb.auto_hop_enabled`	boolean	`true`	n/a	Auto Hop Enabled
`video.wfb.auto_pair_enabled`	boolean	`true`	n/a	Auto Pair Enabled
`video.wfb.aux_enable`	boolean	`true`	n/a	Aux Enable
`video.wfb.aux_fec_k`	integer	`1`	0 to 255	Aux Fec K
`video.wfb.aux_fec_n`	integer	`2`	0 to 255	Aux Fec N
`video.wfb.aux_identity_interval_s`	number	`10`	n/a	Aux Identity Interval S
`video.wfb.aux_mcs_index`	integer\|null	n/a	0 to 255	Aux Mcs Index
`video.wfb.aux_rx_port`	integer	`5603`	0 to 65535	Aux Rx Port
`video.wfb.aux_status_enabled`	boolean	`true`	n/a	Aux Status Enabled
`video.wfb.aux_status_interval_s`	number	`1`	n/a	Aux Status Interval S
`video.wfb.aux_tx_port`	integer	`5602`	0 to 65535	Aux Tx Port
`video.wfb.backend`	string	`"auto"`	n/a	Backend
`video.wfb.band`	string	`"u-nii-3"`	`"u-nii-1"`, `"u-nii-3"`, `"all"`	Band
`video.wfb.channel`	integer	`149`	0 to 255	Channel
`video.wfb.dfs_allowed`	boolean	`false`	n/a	Dfs Allowed
`video.wfb.fec_k`	integer	`8`	0 to 255	Fec K
`video.wfb.fec_n`	integer	`12`	0 to 255	Fec N
`video.wfb.fleet_id`	integer	`1`	0 to 65535	Fleet Id
`video.wfb.fleet_slot`	integer	`0`	0 to 255	Fleet Slot
`video.wfb.hop_loss_threshold_percent`	number	`10`	n/a	Hop Loss Threshold Percent
`video.wfb.hop_period_seconds`	integer	`60`	0 to 4294967295	Hop Period Seconds
`video.wfb.hop_rssi_threshold_dbm`	number	`-75`	n/a	Hop Rssi Threshold Dbm
`video.wfb.interface`	string	`""`	n/a	Interface
`video.wfb.mcs_index`	integer	`1`	0 to 255	Mcs Index
`video.wfb.pair_rearm.confirm_hold_s`	integer	`600`	0 to 9223372036854776000	Confirm Hold S
`video.wfb.pair_rearm.cooldown_s`	integer	`1800`	0 to 9223372036854776000	Cooldown S
`video.wfb.pair_rearm.enabled`	boolean	`true`	n/a	Enabled
`video.wfb.pair_rearm.stats_fresh_ceiling_s`	integer	`30`	0 to 9223372036854776000	Stats Fresh Ceiling S
`video.wfb.paired_at`	string\|null	n/a	n/a	Paired At
`video.wfb.paired_with_device_id`	string\|null	n/a	n/a	Paired With Device Id
`video.wfb.periodic_hop_enabled`	boolean	`false`	n/a	Periodic Hop Enabled
`video.wfb.reg_domain`	string\|null	`"US"`	n/a	Reg Domain
`video.wfb.reg_gate_strict`	boolean	`true`	n/a	Reg Gate Strict
`video.wfb.rendezvous_channel`	integer\|null	n/a	0 to 255	Rendezvous Channel
`video.wfb.sei_latency`	boolean	`false`	n/a	Sei Latency
`video.wfb.topology`	string	`"host_vbus"`	`"host_vbus"`, `"powered_hub"`, `"external_5v"`	Topology
`video.wfb.tx_power_dbm`	integer	`5`	-128 to 127	Tx Power Dbm
`video.wfb.tx_power_max_dbm`	integer	`15`	-128 to 127	Tx Power Max Dbm
`video.wfb.wfb_link_preset`	string	`"conservative"`	`"conservative"`, `"balanced"`, `"aggressive"`	Wfb Link Preset

vision

Key	Type	Default	Allowed	Description
`vision.backend`	string	`"auto"`	`"auto"`, `"rknn"`, `"hailo"`, `"onnx"`, `"mock"`	Backend
`vision.cameras`	array	`[]`	n/a	Cameras
`vision.cameras[].device_path`	string\|null	n/a	n/a	Device Path
`vision.cameras[].id`	string	`""`	n/a	Id
`vision.cameras[].kind`	string	`"tap"`	n/a	Kind
`vision.cameras[].tap_socket`	string\|null	n/a	n/a	Tap Socket
`vision.confidence_threshold`	number	`0.5`	n/a	Confidence Threshold
`vision.designate_camera`	string\|null	n/a	n/a	Designate Camera
`vision.detector.class_labels`	array	n/a	n/a	Class Labels
`vision.detector.head`	string	`""`	n/a	Head
`vision.detector.input_height`	integer	`640`	0 to 4294967295	Input Height
`vision.detector.input_width`	integer	`640`	0 to 4294967295	Input Width
`vision.detector.model_id`	string	`""`	n/a	Model Id
`vision.detector.model_path`	string	`""`	n/a	Model Path
`vision.detector.priority`	integer\|null	n/a	0 to 255	Priority
`vision.detector.rate_hz`	number\|null	n/a	n/a	Rate Hz
`vision.downscale_height`	integer	`480`	0 to 4294967295	Downscale Height
`vision.downscale_width`	integer	`640`	0 to 4294967295	Downscale Width
`vision.enabled`	boolean	`false`	n/a	Enabled
`vision.mock_target`	boolean	`false`	n/a	Mock Target
`vision.models_cache_max_mb`	integer	`500`	0 to 4294967295	Models Cache Max Mb
`vision.models_dir`	string	`"/opt/ados/models/vision"`	n/a	Models Dir
`vision.profile`	string\|null	n/a	n/a	Profile
`vision.registry_url`	string	`"https://raw.githubusercontent.com/altnautica/ADOSMissionControl/main/public/models/registry.json"`	n/a	Registry Url
`vision.reid.input_height`	integer	`256`	0 to 4294967295	Input Height
`vision.reid.input_width`	integer	`128`	0 to 4294967295	Input Width
`vision.reid.model_id`	string	`""`	n/a	Model Id
`vision.reid.model_path`	string	`""`	n/a	Model Path
`vision.reid_enabled`	boolean	`false`	n/a	Reid Enabled
`vision.reid_model_id`	string\|null	n/a	n/a	Reid Model Id
`vision.shm_budget_mb`	integer	`64`	0 to 4294967295	Shm Budget Mb
`vision.slot_count`	integer	`4`	0 to 4294967295	Slot Count
`vision.socket_dir`	string	`"/run/ados"`	n/a	Socket Dir
`vision.tracker_enabled`	boolean	`false`	n/a	Tracker Enabled

Next steps

Terminal dashboard

Watch the node’s links, autopilot and video live.

MAVLink proxy

How the agent connects to the flight controller.

WFB-ng

Radio link settings and automation.

Agent CLI reference

ados config and the other commands.

Get started

Set up and use

Link, video and flight systems

Reference

Diagnose

How the file is loaded

What the installer writes

Read and write the config

From the REST API

Edit the file

Settings that need care

MAVLink proxy authentication

Profile

Hotspot passphrase

Cloud server mode

Pairing backend URL

MQTT broker TLS

LAN transport

Video mode and codec

Radio link

Vision backend

Swarm

All keys by section

Next steps

Terminal dashboard

MAVLink proxy

WFB-ng

Agent CLI reference

​How the file is loaded

​What the installer writes

​Read and write the config

​From the REST API

​Edit the file

​Settings that need care

​MAVLink proxy authentication

​Profile

​Hotspot passphrase

​Cloud server mode

​Pairing backend URL

​MQTT broker TLS

​LAN transport

​Video mode and codec

​Radio link

​Vision backend

​Swarm

​All keys by section

​Next steps

Terminal dashboard

MAVLink proxy

WFB-ng

Agent CLI reference

How the file is loaded

What the installer writes

Read and write the config

From the REST API

Edit the file

Settings that need care

MAVLink proxy authentication

Profile

Hotspot passphrase

Cloud server mode

Pairing backend URL

MQTT broker TLS

LAN transport

Video mode and codec

Radio link

Vision backend

Swarm

All keys by section

Next steps