#!/bin/sh
# @name Aion Robotics R1 Rover
# @type Rover
# @class Rover

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

PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}

param set-default SIM_GZ_EN 1 # Gazebo bridge

# Simulated sensors
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1

# Actuator mapping
param set-default SIM_GZ_WH_FUNC1 101 # right wheel front
param set-default SIM_GZ_WH_MIN1 0
param set-default SIM_GZ_WH_MAX1 200
param set-default SIM_GZ_WH_DIS1 100

param set-default SIM_GZ_WH_FUNC2 102 # left wheel front
param set-default SIM_GZ_WH_MIN2 0
param set-default SIM_GZ_WH_MAX2 200
param set-default SIM_GZ_WH_DIS2 100

param set-default SIM_GZ_WH_FUNC3 103 # right wheel back
param set-default SIM_GZ_WH_MIN3 0
param set-default SIM_GZ_WH_MAX3 200
param set-default SIM_GZ_WH_DIS3 100

param set-default SIM_GZ_WH_FUNC4 104 # left wheel back
param set-default SIM_GZ_WH_MIN4 0
param set-default SIM_GZ_WH_MAX4 200
param set-default SIM_GZ_WH_DIS4 100

# param set-default SIM_GZ_WH_REV 1 # reverse right wheel
