ardupilot/Tools/Frame_params/AION_R1_Rover.param

#NOTE: AION Robotics Params for Rover V3.2.0
ACRO_TURN_RATE,120
#most users will want manual capabilites on boot without the need for a GCS to arm
ARMING_REQUIRE,0
#MIN 4S SOLO BATTERY
ARMING_VOLT_MIN,13
ATC_ACCEL_MAX,2.0
ATC_SPEED_P,0.2
ATC_SPEED_I,0.2
ATC_SPEED_D,0.0
ATC_SPEED_FILT,10
ATC_STR_ACC_MAX,180
ATC_STR_ANG_P,2.5
ATC_STR_RAT_FF,0.2
ATC_STR_RAT_P,0.0
ATC_STR_RAT_I,0.1
ATC_STR_RAT_D,0.0
ATC_STR_RAT_FILT,20
ATC_STR_RAT_MAX,120
#default aux ch to match documentation
AUX_CH,7
#cube power brick - 4s solo battery - SMBus hardware side not yet supported
BATT_AMP_OFFSET,0
BATT_AMP_PERVOLT,0.1
BATT_CAPACITY,5200
BATT_CURR_PIN,3
BATT_LOW_TIMER,10
BATT_LOW_TYPE,0
BATT_MONITOR,4
BATT_SERIAL_NUM,-1
BATT_VOLT_MULT,13.99818
BATT_VOLT_PIN,2
BRD_PWM_COUNT,2
#default save waypoint
RC7_OPTION,1
COMPASS_OFFS_MAX,2000
#default use only first (hopefully external) compass
COMPASS_USE,1
COMPASS_USE2,0
COMPASS_USE3,0
CRUISE_SPEED,1.0
CRUISE_THROTTLE,70
EK2_YAW_M_NSE,0.7
FS_CRASH_CHECK,1
#default modes
MODE_CH,5
MODE1,0
MODE2,3
MODE3,10
MODE4,12
NAVL1_PERIOD,6
NAVL1_DAMPING,0.7
NAVL1_XTRACK_I,0.02
PIVOT_TURN_ANGLE,30
#default telem radio
SERIAL1_BAUD,57
SERIAL1_PROTOCOL,1
#default APSync
SERIAL2_BAUD,921
SERIAL2_PROTOCOL,1
SERVO1_FUNCTION,74
SERVO1_MAX,2000
SERVO1_MIN,1000
SERVO3_FUNCTION,73
SERVO3_MAX,2000
SERVO3_MIN,1000
SPEED_TURN_GAIN,50
ATC_TURN_MAX_G,0.3
TURN_RADIUS,0.9
WENC_CPR,1120
WENC_PINA,55
WENC_PINB,54
WENC_POS_X,-0.15
WENC_POS_Y,-0.16
WENC_POS_Z,0
WENC_RADIUS,0.0775
WENC_TYPE,0
WENC2_CPR,1120
WENC2_PINA,53
WENC2_PINB,52
WENC2_POS_X,-0.15
WENC2_POS_Y,0.16
WENC2_POS_Z,0
WENC_RADIUS,0.0775
WENC2_TYPE,0
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`#NOTE: AION Robotics Params for Rover V3.2.0`
			`ACRO_TURN_RATE,120`
Tools: update AION R1 default parameters Added default presets to match documentation & hardware setup. 2017-12-23 16:04:29 -04:00			`#most users will want manual capabilites on boot without the need for a GCS to arm`
			`ARMING_REQUIRE,0`
			`#MIN 4S SOLO BATTERY`
			`ARMING_VOLT_MIN,13`
Tools: add accel and turn-rate max and increase steering angle P these parameters were added to Rover-3.3 2018-04-22 23:06:19 -03:00			`ATC_ACCEL_MAX,2.0`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`ATC_SPEED_P,0.2`
			`ATC_SPEED_I,0.2`
			`ATC_SPEED_D,0.0`
			`ATC_SPEED_FILT,10`
Tools: update AION R1 default params 2018-04-26 02:07:02 -03:00			`ATC_STR_ACC_MAX,180`
			`ATC_STR_ANG_P,2.5`
Tools: AION R1 default params use steering feed-forward Also add wheel encoder defaults 2018-01-04 01:03:52 -04:00			`ATC_STR_RAT_FF,0.2`
			`ATC_STR_RAT_P,0.0`
			`ATC_STR_RAT_I,0.1`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`ATC_STR_RAT_D,0.0`
			`ATC_STR_RAT_FILT,20`
Tools: add accel and turn-rate max and increase steering angle P these parameters were added to Rover-3.3 2018-04-22 23:06:19 -03:00			`ATC_STR_RAT_MAX,120`
			`#default aux ch to match documentation`
Tools: AION R1 default remove compass-external compass-external settings should normally not need to be set 2018-01-04 01:02:53 -04:00			`AUX_CH,7`
Tools: update AION R1 default parameters Added default presets to match documentation & hardware setup. 2017-12-23 16:04:29 -04:00			`#cube power brick - 4s solo battery - SMBus hardware side not yet supported`
			`BATT_AMP_OFFSET,0`
			`BATT_AMP_PERVOLT,0.1`
			`BATT_CAPACITY,5200`
			`BATT_CURR_PIN,3`
			`BATT_LOW_TIMER,10`
			`BATT_LOW_TYPE,0`
			`BATT_MONITOR,4`
			`BATT_SERIAL_NUM,-1`
			`BATT_VOLT_MULT,13.99818`
			`BATT_VOLT_PIN,2`
Tools: AION R1 default params use steering feed-forward Also add wheel encoder defaults 2018-01-04 01:03:52 -04:00			`BRD_PWM_COUNT,2`
Tools: AION R1 default remove compass-external compass-external settings should normally not need to be set 2018-01-04 01:02:53 -04:00			`#default save waypoint`
Tools: Frame_Params: correct for CH7 -> RC7 change 2018-08-01 19:24:52 -03:00			`RC7_OPTION,1`
Tools: update AION default param Add servo-function reversed, compass offset maximum 2018-02-12 03:09:35 -04:00			`COMPASS_OFFS_MAX,2000`
Tools: AION R1 default remove compass-external compass-external settings should normally not need to be set 2018-01-04 01:02:53 -04:00			`#default use only first (hopefully external) compass`
Tools: update AION R1 default parameters Added default presets to match documentation & hardware setup. 2017-12-23 16:04:29 -04:00			`COMPASS_USE,1`
			`COMPASS_USE2,0`
			`COMPASS_USE3,0`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`CRUISE_SPEED,1.0`
			`CRUISE_THROTTLE,70`
Tools: update AION default param Add servo-function reversed, compass offset maximum 2018-02-12 03:09:35 -04:00			`EK2_YAW_M_NSE,0.7`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`FS_CRASH_CHECK,1`
Tools: update AION R1 default parameters Added default presets to match documentation & hardware setup. 2017-12-23 16:04:29 -04:00			`#default modes`
			`MODE_CH,5`
			`MODE1,0`
			`MODE2,3`
			`MODE3,10`
			`MODE4,12`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`NAVL1_PERIOD,6`
			`NAVL1_DAMPING,0.7`
			`NAVL1_XTRACK_I,0.02`
			`PIVOT_TURN_ANGLE,30`
Tools: update AION R1 default parameters Added default presets to match documentation & hardware setup. 2017-12-23 16:04:29 -04:00			`#default telem radio`
			`SERIAL1_BAUD,57`
			`SERIAL1_PROTOCOL,1`
			`#default APSync`
			`SERIAL2_BAUD,921`
			`SERIAL2_PROTOCOL,1`
Tools: update AION default param Add servo-function reversed, compass offset maximum 2018-02-12 03:09:35 -04:00			`SERVO1_FUNCTION,74`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`SERVO1_MAX,2000`
			`SERVO1_MIN,1000`
Tools: update AION default param Add servo-function reversed, compass offset maximum 2018-02-12 03:09:35 -04:00			`SERVO3_FUNCTION,73`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`SERVO3_MAX,2000`
			`SERVO3_MIN,1000`
			`SPEED_TURN_GAIN,50`
Tools: rename TURN_MAX_G to ATC_TURN_MAX_G in param sets 2021-05-02 13:37:21 -03:00			`ATC_TURN_MAX_G,0.3`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`TURN_RADIUS,0.9`
Tools: AION R1 default params use steering feed-forward Also add wheel encoder defaults 2018-01-04 01:03:52 -04:00			`WENC_CPR,1120`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`WENC_PINA,55`
			`WENC_PINB,54`
Tools: AION R1 default params use steering feed-forward Also add wheel encoder defaults 2018-01-04 01:03:52 -04:00			`WENC_POS_X,-0.15`
			`WENC_POS_Y,-0.16`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`WENC_POS_Z,0`
Tools: AION R1 default params use steering feed-forward Also add wheel encoder defaults 2018-01-04 01:03:52 -04:00			`WENC_RADIUS,0.0775`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`WENC_TYPE,0`
Tools: AION R1 default params use steering feed-forward Also add wheel encoder defaults 2018-01-04 01:03:52 -04:00			`WENC2_CPR,1120`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`WENC2_PINA,53`
			`WENC2_PINB,52`
Tools: AION R1 default params use steering feed-forward Also add wheel encoder defaults 2018-01-04 01:03:52 -04:00			`WENC2_POS_X,-0.15`
			`WENC2_POS_Y,0.16`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`WENC2_POS_Z,0`
Tools: AION R1 default params use steering feed-forward Also add wheel encoder defaults 2018-01-04 01:03:52 -04:00			`WENC_RADIUS,0.0775`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`WENC2_TYPE,0`