Planner/FSM tick period in seconds: how often fsmNode re-runs the state machine and republishes path/state/costmap. Must be > 0.

How far a perceived obstacle must move (meters) before it is erased and redrawn on the costmap; guards against redrawing on sensor jitter. Must be >= 0.

Same for an obstacle's radius (meters): smaller changes count as unchanged. Must be >= 0.

Traversal cost stamped on the cells covered by a perceived obstacle. High enough that the planner treats them as impassable. Must be > 0.

Buffer (meters) drawn around an obstacle beyond its own radius, stamped with the reduced safety-zone cost. Must be >= 0.

Fraction of the obstacle cost used for that buffer ring, so the planner prefers to skirt an obstacle rather than graze it. Must be in (0, 1).

Padding (meters) around the start/goal bounding box of each FieldDStar planning window, giving the planner room to route around obstacles instead of only down the straight line. Must be > 0.

Fixed reference heading (degrees) orienting the red/green buoy gate lines drawn on the costmap. This is the course through the gate, not the boat's heading — normally the mission's overall run direction.

Thickness (meters) of those buoy gate lines. Must be > 0.

Where the docking approach starts, in half dock lengths measured from the dock center out through the dock opening: 2 puts the start point one half dock length in front of the opening. Must be >= 1.