services:
  drone:
    build: .
    # Scale the swarm: docker compose up --build --scale drone=${DRONE_COUNT:-5}
    deploy:
      replicas: ${DRONE_COUNT:-5}
    environment:
      FLIGHT_ID: ${FLIGHT_ID:-}
      SEED: ${SEED:-42}
      DURATION_S: ${DURATION_S:-120}
      SPEEDUP: ${SPEEDUP:-1.0}
      IMU_HZ: ${IMU_HZ:-50}
      STATE_HZ: ${STATE_HZ:-5}
      # Compose default bridge network: subnet-directed broadcast works
      BROADCAST_ADDR: ${BROADCAST_ADDR:-255.255.255.255}
    volumes:
      - ./data:/data