seydd.toml

Generated from packages/seydd/src/config.rs: the structs the daemon deserialises the file into are the schema, so this page cannot disagree with the binary. Pass the file with seydd --config /etc/seyd/seydd.toml. See Integrate the daemon for a walkthrough and the protocol contract for the publisher-control messages.

[agent]

The robot’s identity, transport and policy.

Key	Type	Required	Default	Meaning
robot_id	string	yes	—	The robot’s id as enrolled with the cloud; what pilots and the console see.
signal_url	string	yes	—	The signal server’s WebSocket URL, wss://host/ws. Enrolment derives its REST address from it.
credential_path	path	no	"/var/lib/seyd/robot.key"	Ed25519 seed file, created on first run. The private half never leaves the robot; enrolment registers the public half (ADR 0007).
quic_port	integer	no	4433	UDP port the QUIC endpoint binds; the port a router forward or pinhole must open.
ipv6	boolean	no	true	Bind and advertise IPv6 as well as IPv4.
port_mapping	boolean	no	true	Ask the router for a port mapping (PCP, NAT-PMP, UPnP) during discovery, so a robot behind a consumer router is reachable without a manual forward.
qos_profile	string	no	"balanced"	The QoS ceiling: latency, balanced or quality.
max_sessions	integer	no	4	Concurrent pilot sessions (one driver, the rest observers).
host_override	string	no	empty	Skip discovery and advertise this host only (LAN testing).
recovery_ladder	boolean	no	true	Ask for the cheapest useful recovery point (LTR → intra-refresh → IDR) rather than always demanding a keyframe. Set false for a publisher that mishandles any kind but idr.
relay	boolean	no	true	Serve a session through the cloud relay when the pilot could not connect directly (ADR 0010). The pilot only asks after its direct attempts fail, and its HUD says so; set false to refuse relayed sessions altogether.
enrolment_token	string	no	empty	One-time enrolment token, redeemed on first start when no credential exists yet. SEYD_ENROLMENT_TOKEN overrides it — prefer the environment, so a provisioning secret need not be written to disk.

[[channel]]

One per channel; numbered from 1 in file order, and that numbering is what the pilot sees.

Key	Type	Required	Default	Meaning
kind	"video" | "sensor" | "command"	yes	—	video, sensor or command.
name	string	yes	—	The channel’s name as shown to the pilot and used in SeydSession.send.
input	string	no	empty	Where the bytes come from: rtsp:// or rtp:// for video, udp:// for a sensor. Required for video and sensor channels without layers.
output	string	no	empty	Where a command channel delivers each driver message, as one UDP datagram per message.
codec	string	no	"json"	A WebCodecs codec string for video (avc1.42001f, hev1.…, mjpeg); json or octet-stream for messages.
fps	integer	no	0/false	Nominal frame rate of a video channel; 0 for messages.
layer	array of tables	no	empty	Simulcast layers. Empty means the single input above — the ordinary case, and what every pre-simulcast config keeps doing.
max_bitrate_kbps	integer	no	0/false	The most this video channel’s publisher can encode, in kbps; 0 (the default) means it has no limit of its own. Set it when the encoder tops out below the QoS profile’s ceiling — a drone whose highest setting is 4 Mbps under the quality profile’s 6 — so the rate controller’s range, floor and video-config requests stay within what the publisher can deliver.

[[channel.layer]]

Simulcast layers of a video channel (ADR 0008), lowest first.

Key	Type	Required	Default	Meaning
name	string	yes	—	The layer’s name, reported in layer messages and the HUD.
input	string	yes	—	The stream carrying this encoding, rtsp:// or rtp://.
activate_above_kbps	integer	no	0/false	The ABR target at or above which this layer is the right choice. The lowest layer is the base and is used whenever nothing better is affordable, so leaving it at 0 is correct.

[publisher_control]

Where seydd posts video-config, recovery-request, layer and session messages for the publisher.

Key	Type	Required	Default	Meaning
udp	string	yes	—	host:port the daemon sends its JSON control messages to, one per datagram.

Simulcast example

From the Layer doc comment in config.rs:

toml [[channel]] kind = “video” name = “main” codec = “avc1.42001f” # must admit the highest layer fps = 25

[[channel.layer]] name = “low” input = “rtsp://cam:554/Streaming/Channels/102”

[[channel.layer]] name = “high” input = “rtsp://cam:554/Streaming/Channels/101” activate_above_kbps = 1800