#!/bin/sh
#
# @name DF Robot GPX:Asurada

#
# @type Rover
# @class Rover
#
# @board px4_fmu-v2 exclude
#
# @output MAIN2 Steering servo
# @output MAIN3 Speed of left wheels
# @output MAIN4 Speed of right wheels
#
# @maintainer Katrin Moritz
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

sh /etc/init.d/rc.rover_defaults

if [ $AUTOCNF = yes ]
then
	param set BAT_N_CELLS 2

	param set EKF2_GBIAS_INIT 0.01
	param set EKF2_ANGERR_INIT 0.01
	param set EKF2_MAG_TYPE 1

	param set FW_AIRSPD_MIN 0
	param set FW_AIRSPD_TRIM 1
	param set FW_AIRSPD_MAX 3

	param set GND_THR_IDLE 0
	param set GND_THR_CRUISE 0
	param set GND_THR_MAX 0.5

	# Because this is differential drive, it can make a turn with radius 0.
	# This corresponds to a turn angle of pi radians.
	# If a special case is made for differential-drive, this will need to change.
	param set GND_MAX_ANG 3.142
	param set GND_WHEEL_BASE 0.3

	# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
	# to support negative throttle.
	param set GND_THR_MIN 0.0
	param set GND_SPEED_P 0.25
	param set GND_SPEED_I 3
	param set GND_SPEED_D 0.001
	param set GND_SPEED_IMAX 0.125
	param set GND_SPEED_THR_SC 1

	param set MIS_LTRMIN_ALT 0.01
	param set MIS_TAKEOFF_ALT 0.01

	param set NAV_ACC_RAD 0.5

	# Provide ESC a constant 1500 us pulse to idle
	param set PWM_DISARMED 1500
	param set PWM_MAIN_DIS3 1485
	param set PWM_MAIN_DIS4 1485
	param set PWM_MAIN_FAIL3 1485
	param set PWM_MAIN_FAIL4 1485
	param set PWM_MAX 2000
	param set PWM_MIN 1000
	param set PWM_MAIN_MIN3 970
	param set PWM_MAIN_MIN4 970

	# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
	param set CBRK_AIRSPD_CHK 162128

	# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
	param set GND_MAX_ANG 3.1415

fi

# Configure this as rover
set MAV_TYPE 10

# Set mixer
set MIXER rover_diff_and_servo

set PWM_MAIN_REV2 1