#!/bin/sh
# @name Generic Mecanum Rover
# @type Rover
# @class Rover

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

PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}

param set-default SIM_GZ_EN 1 # Gazebo bridge

param set-default NAV_ACC_RAD 0.5

# Mecanum Parameters
param set-default RM_WHEEL_TRACK 0.6
param set-default RM_YAW_STK_GAIN 0.6

# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 5
param set-default RO_JERK_LIM 30
param set-default RO_MAX_THR_SPEED 2.1

# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 120
param set-default RO_YAW_ACCEL_LIM 240
param set-default RO_YAW_DECEL_LIM 1000
param set-default RO_YAW_RATE_CORR 1.75
param set-default RO_YAW_EXPO 0.85
param set-default RO_YAW_SUPEXPO 0.3

# Rover Attitude Control Parameters
param set-default RO_YAW_P 5

# Velocity Control Parameters
param set-default RO_ACCEL_LIM 4
param set-default RO_DECEL_LIM 6
param set-default RO_JERK_LIM 10
param set-default RO_MAX_THR_SPEED 3.1
param set-default RO_SPEED_LIM 2.5
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
param set-default RO_SPEED_RED 0.5

# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 0.5
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1

# Simulated sensors
param set-default SENS_EN_MAGSIM 1

# Actuator mapping
param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
param set-default SIM_GZ_WH_MIN1 70
param set-default SIM_GZ_WH_MAX1 130
param set-default SIM_GZ_WH_DIS1 100

param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
param set-default SIM_GZ_WH_MIN2 70
param set-default SIM_GZ_WH_MAX2 130
param set-default SIM_GZ_WH_DIS2 100

param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
param set-default SIM_GZ_WH_MIN3 70
param set-default SIM_GZ_WH_MAX3 130
param set-default SIM_GZ_WH_DIS3 100

param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
param set-default SIM_GZ_WH_MIN4 70
param set-default SIM_GZ_WH_MAX4 130
param set-default SIM_GZ_WH_DIS4 100

param set-default SIM_GZ_WH_REV 0