#!/bin/sh
# @name Rover Ackermann
# @type Rover
# @class Rover

. ${R}etc/init.d/rc.rover_ackermann_defaults

set VEHICLE_TYPE rover_ackermann
param set-default CA_AIRFRAME 5         # Rover (Ackermann)
param set-default CA_R_REV 1            # Motor is assumed to be reversible
param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not driving
param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_ANGERR_INIT 0.01


PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}

param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann

param set-default PWM_MAIN_FUNC1 201 # Steering
param set-default PWM_MAIN_FUNC2 101 # Throttle
param set-default SIH_MASS 20
param set-default SIH_IXX 0.4333
param set-default SIH_IYY 1.6833
param set-default SIH_IZZ 2.0833
param set-default SIH_IXZ 0
param set-default SIH_KDV 50
param set-default SIH_KDW 10

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1

# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_STR_RATE_LIM 360

# Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01
param set-default RO_YAW_RATE_P 0.25
param set-default RO_YAW_RATE_LIM 180
param set-default RO_YAW_ACCEL_LIM 400
param set-default RO_YAW_DECEL_LIM 800
param set-default RO_YAW_RATE_CORR 1

# Attitude Control Parameters
param set-default RO_YAW_P 5

# Velocity Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 3
param set-default RO_JERK_LIM 10
param set-default RO_MAX_THR_SPEED 3.2
param set-default RO_SPEED_LIM 3
param set-default RO_SPEED_I 0.001
param set-default RO_SPEED_P 0.001
param set-default RO_SPEED_RED 1

# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1

# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1