ardupilot/Tools/Frame_params/AION_R1_Rover.param

#NOTE: AION Robotics Params for Rover V4.5.0 (and higher)
ACRO_TURN_RATE,120
ATC_ACCEL_MAX,0.75
ATC_DECEL_MAX,1.5
ATC_SPEED_P,0.5
ATC_SPEED_I,0.5
ATC_SPEED_D,0.018
ATC_SPEED_FLTE,10
ATC_STR_ACC_MAX,120
ATC_STR_ANG_P,2
ATC_STR_RAT_FF,0.25
ATC_STR_RAT_P,0.13
ATC_STR_RAT_I,0.13
ATC_STR_RAT_D,0.0
ATC_STR_RAT_FLTD,2
ATC_STR_RAT_FLTE,10
ATC_STR_RAT_FLTT,2
ATC_STR_RAT_MAX,120
ATC_TURN_MAX_G,0.3
BATT_MONITOR,4
BRD_PWM_COUNT,2
BRD_SAFETY_DEFLT,0
COMPASS_OFFS_MAX,2000
COMPASS_USE,1
COMPASS_USE2,0
COMPASS_USE3,0
CRUISE_SPEED,1.0
CRUISE_THROTTLE,70
FRAME_CLASS,1
FRAME_TYPE,0
PSC_POS_P,0.2
PSC_VEL_FLTD,5
PSC_VEL_FLTE,5
PSC_VEL_I,0
PSC_VEL_P,1
WP_PIVOT_ANGLE,60
WP_PIVOT_RATE,60
SERVO1_FUNCTION,73
SERVO1_MAX,2000
SERVO1_MIN,1000
SERVO3_FUNCTION,74
SERVO3_MAX,2000
SERVO3_MIN,1000
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
WP_RADIUS,2
WP_SPEED,1
Tools: update AION R1 params 2024-02-11 23:16:39 -04:00			`#NOTE: AION Robotics Params for Rover V4.5.0 (and higher)`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`ACRO_TURN_RATE,120`
Tools: update AION R1 params 2024-02-11 23:16:39 -04:00			`ATC_ACCEL_MAX,0.75`
			`ATC_DECEL_MAX,1.5`
			`ATC_SPEED_P,0.5`
			`ATC_SPEED_I,0.5`
			`ATC_SPEED_D,0.018`
			`ATC_SPEED_FLTE,10`
			`ATC_STR_ACC_MAX,120`
			`ATC_STR_ANG_P,2`
			`ATC_STR_RAT_FF,0.25`
			`ATC_STR_RAT_P,0.13`
			`ATC_STR_RAT_I,0.13`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`ATC_STR_RAT_D,0.0`
Tools: update AION R1 params 2024-02-11 23:16:39 -04:00			`ATC_STR_RAT_FLTD,2`
			`ATC_STR_RAT_FLTE,10`
			`ATC_STR_RAT_FLTT,2`
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`
Tools: update AION R1 params 2024-02-11 23:16:39 -04:00			`ATC_TURN_MAX_G,0.3`
Tools: update AION R1 default parameters Added default presets to match documentation & hardware setup. 2017-12-23 16:04:29 -04:00			`BATT_MONITOR,4`
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: update AION R1 params 2024-02-11 23:16:39 -04:00			`BRD_SAFETY_DEFLT,0`
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: 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 R1 params 2024-02-11 23:16:39 -04:00			`FRAME_CLASS,1`
			`FRAME_TYPE,0`
			`PSC_POS_P,0.2`
			`PSC_VEL_FLTD,5`
			`PSC_VEL_FLTE,5`
			`PSC_VEL_I,0`
			`PSC_VEL_P,1`
			`WP_PIVOT_ANGLE,60`
			`WP_PIVOT_RATE,60`
			`SERVO1_FUNCTION,73`
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 R1 params 2024-02-11 23:16:39 -04:00			`SERVO3_FUNCTION,74`
Tools: default param file for AION R1 rover 2017-12-23 01:25:25 -04:00			`SERVO3_MAX,2000`
			`SERVO3_MIN,1000`
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`
Tools: update AION R1 params 2024-02-11 23:16:39 -04:00			`WP_RADIUS,2`
			`WP_SPEED,1`