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/**
 * @file rovercontrol_params.c
 *
 * Parameters defined by the rover control lib.
 */

/**
 * Yaw stick deadzone
 *
 * Percentage of stick input range that will be interpreted as zero around the stick centered value.
 *
 * @min 0
 * @max 1
 * @increment 0.01
 * @decimal 2
 * @group Rover Rate Control
 */
PARAM_DEFINE_FLOAT(RO_YAW_STICK_DZ, 0.1f);

/**
 * Yaw rate expo factor
 *
 * Exponential factor for tuning the input curve shape.
 *
 * 0 Purely linear input curve
 * 1 Purely cubic input curve
 *
 * @min 0
 * @max 1
 * @decimal 2
 * @group Rover Rate Control
 */
PARAM_DEFINE_FLOAT(RO_YAW_EXPO, 0.f);

/**
 * Yaw rate super expo factor
 *
 * "Superexponential" factor for refining the input curve shape tuned using RO_YAW_EXPO.
 *
 * 0 Pure Expo function
 * 0.7 reasonable shape enhancement for intuitive stick feel
 * 0.95 very strong bent input curve only near maxima have effect
 *
 * @min 0
 * @max 0.95
 * @decimal 2
 * @group Rover Rate Control
 */
PARAM_DEFINE_FLOAT(RO_YAW_SUPEXPO, 0.f);

/**
 * Yaw rate measurement threshold
 *
 * The minimum threshold for the yaw rate measurement not to be interpreted as zero.
 *
 * @unit deg/s
 * @min 0
 * @max 100
 * @increment 0.01
 * @decimal 2
 * @group Rover Rate Control
 */
PARAM_DEFINE_FLOAT(RO_YAW_RATE_TH, 3.f);

/**
 * Proportional gain for closed loop yaw rate controller
 *
 * @min 0
 * @max 100
 * @increment 0.01
 * @decimal 3
 * @group Rover Rate Control
 */
PARAM_DEFINE_FLOAT(RO_YAW_RATE_P, 0.f);

/**
 * Integral gain for closed loop yaw rate controller
 *
 * @min 0
 * @max 100
 * @increment 0.01
 * @decimal 3
 * @group Rover Rate Control
 */
PARAM_DEFINE_FLOAT(RO_YAW_RATE_I, 0.f);

/**
 * Yaw rate limit
 *
 * Used to cap yaw rate setpoints and map controller inputs to yaw rate setpoints
 * in Acro, Stabilized and Position mode.
 *
 * @unit deg/s
 * @min 0
 * @max 10000
 * @increment 0.01
 * @decimal 2
 * @group Rover Rate Control
 */
PARAM_DEFINE_FLOAT(RO_YAW_RATE_LIM, 0.f);

/**
 * Yaw acceleration limit
 *
 * Used to cap how quickly the magnitude of yaw rate setpoints can increase.
 * Set to -1 to disable.
 *
 * @unit deg/s^2
 * @min -1
 * @max 10000
 * @increment 0.01
 * @decimal 2
 * @group Rover Rate Control
 */
PARAM_DEFINE_FLOAT(RO_YAW_ACCEL_LIM, -1.f);

/**
 * Yaw deceleration limit
 *
 * Used to cap how quickly the magnitude of yaw rate setpoints can decrease.
 * Set to -1 to disable.
 *
 * @unit deg/s^2
 * @min -1
 * @max 10000
 * @increment 0.01
 * @decimal 2
 * @group Rover Rate Control
 */
PARAM_DEFINE_FLOAT(RO_YAW_DECEL_LIM, -1.f);

/**
 * Yaw rate correction factor
 *
 * Multiplicative correction factor for the feedforward mapping of the yaw rate controller.
 * Increase this value (x > 1) if the measured yaw rate is lower than the setpoint, decrease (0 < x < 1) otherwise.
 * Note: Tuning this is particularly useful for skid-steered rovers, or rovers with misaligned wheels/steering axes
 * that cause a lot of friction when turning.
 *
 * @min 0.01
 * @max 10000
 * @increment 0.01
 * @decimal 2
 * @group Rover Rate Control
 */
PARAM_DEFINE_FLOAT(RO_YAW_RATE_CORR, 1.f);

/**
 * Proportional gain for closed loop yaw controller
 *
 * @min 0
 * @max 100
 * @increment 0.01
 * @decimal 3
 * @group Rover Attitude Control
 */
PARAM_DEFINE_FLOAT(RO_YAW_P, 0.f);

/**
 * Speed the rover drives at maximum throttle
 *
 * Used to linearly map speeds [m/s] to throttle values [-1. 1].
 *
 * @min 0
 * @max 100
 * @unit m/s
 * @increment 0.01
 * @decimal 2
 * @group Rover Velocity Control
 */
PARAM_DEFINE_FLOAT(RO_MAX_THR_SPEED, 0.f);

/**
 * Proportional gain for ground speed controller
 *
 * @min 0
 * @max 100
 * @increment 0.01
 * @decimal 2
 * @group Rover Velocity Control
 */
PARAM_DEFINE_FLOAT(RO_SPEED_P, 0.f);

/**
 * Integral gain for ground speed controller
 *
 * @min 0
 * @max 100
 * @increment 0.001
 * @decimal 3
 * @group Rover Velocity Control
 */
PARAM_DEFINE_FLOAT(RO_SPEED_I, 0.f);

/**
 * Speed limit
 *
 * Used to cap speed setpoints and map controller inputs to speed setpoints in Position mode.
 *
 * @unit m/s
 * @min -1
 * @max 100
 * @increment 0.01
 * @decimal 2
 * @group Rover Velocity Control
 */
PARAM_DEFINE_FLOAT(RO_SPEED_LIM, -1.f);

/**
 * Acceleration limit
 *
 * Set to -1 to disable.
 * For mecanum rovers this limit is used for longitudinal and lateral acceleration.
 *
 * @unit m/s^2
 * @min -1
 * @max 100
 * @increment 0.01
 * @decimal 2
 * @group Rover Velocity Control
 */
PARAM_DEFINE_FLOAT(RO_ACCEL_LIM, -1.f);

/**
 * Deceleration limit
 *
 * Set to -1 to disable.
 * Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
 * For mecanum rovers this limit is used for longitudinal and lateral deceleration.
 *
 * @unit m/s^2
 * @min -1
 * @max 100
 * @increment 0.01
 * @decimal 2
 * @group Rover Velocity Control
 */
PARAM_DEFINE_FLOAT(RO_DECEL_LIM, -1.f);

/**
 * Jerk limit
 *
 * Set to -1 to disable.
 * Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
 * For mecanum rovers this limit is used for longitudinal and lateral jerk.
 *
 * @unit m/s^3
 * @min -1
 * @max 100
 * @increment 0.01
 * @decimal 2
 * @group Rover Velocity Control
 */
PARAM_DEFINE_FLOAT(RO_JERK_LIM, -1.f);

/**
 * Speed measurement threshold
 *
 * Set to -1 to disable.
 * The minimum threshold for the speed measurement not to be interpreted as zero.
 *
 * @unit m/s
 * @min 0
 * @max 100
 * @increment 0.01
 * @decimal 2
 * @group Rover Velocity Control
 */
PARAM_DEFINE_FLOAT(RO_SPEED_TH, 0.1f);

/**
 * Tuning parameter for the speed reduction based on the course error
 *
 * Reduced_speed = RO_MAX_THR_SPEED * (1 - normalized_course_error * RO_SPEED_RED)
 * The normalized course error is the angle between the current course and the bearing setpoint
 * interpolated from [0, 180] -> [0, 1].
 * Higher value -> More speed reduction.
 * Note: This is also used to calculate the speed at which the vehicle arrives at a waypoint in auto modes.
 * Set to -1 to disable bearing error based speed reduction.
 *
 * @min -1
 * @max 100
 * @increment 0.01
 * @decimal 2
 * @group Rover Velocity Control
 */
PARAM_DEFINE_FLOAT(RO_SPEED_RED, -1.f);