{
  "_schema": "cold-boot-fixture/v1",
  "_description": "Frozen FC pose snapshot at flight-resume time. Loaded into ardupilot-plane-sitl / inav-sitl via the standard parameter-load path. Consumed by FT-P-11 (cold-start init, secondary path: origin_source == fc_ekf) per AZ-419.",
  "_provenance": "synthetic — Derkachi sector centre at 100 m AGL, heading north",
  "_license": "test-fixture (no third-party data; safe to redistribute under this repo's license)",
  "_authored_for": ["AZ-407 (AC-4)", "AZ-419 (FT-P-11 fc_ekf path)"],

  "global_position_int": {
    "time_boot_ms": 0,
    "lat_e7": 500750000,
    "lon_e7": 361500000,
    "alt_mm": 100000,
    "relative_alt_mm": 100000,
    "vx_cm_s": 0,
    "vy_cm_s": 0,
    "vz_cm_s": 0,
    "hdg_cdeg": 0
  },

  "attitude": {
    "roll_rad": 0.0,
    "pitch_rad": 0.0,
    "yaw_rad": 0.0,
    "rollspeed_rad_s": 0.0,
    "pitchspeed_rad_s": 0.0,
    "yawspeed_rad_s": 0.0
  },

  "ardupilot_param_overrides": {
    "SIM_GPS_DISABLE": 0,
    "SIM_GPS_TYPE": 1,
    "_comment_lat_lon_alt_yaw": "SIM_GPS_* params do not directly set EKF origin on the parameter-load path; FT-P-11 fixture loader will use mavproxy `param load` + a follow-up SET_HOME_POSITION / FAKE_GPS injection to land the EKF at the snapshot pose."
  },

  "inav_serial_rx_overrides": {
    "_comment": "iNav loads pose via MSP2_SENSOR_GPS injection + INAV_SET_HOME message. FT-P-11 loader uses the standard MSP2 path; this fixture only declares the target lat/lon/alt/yaw — the loader handles per-FC wiring."
  }
}