Rover: tweaked parameters and added SPEED_TURN_GAIN and SPEED_TURN_DIST

APMrover2/Parameters.h

@@ -66,6 +66,8 @@ public:
         k_param_crosstrack_gain = 150,
         k_param_crosstrack_entry_angle,
         k_param_speed_cruise,
+        k_param_speed_turn_gain,
+        k_param_speed_turn_dist,
         k_param_ch7_option,
 
         //
@@ -169,6 +171,8 @@ public:
     AP_Float    crosstrack_gain;
     AP_Int16    crosstrack_entry_angle;
     AP_Float    speed_cruise;
+    AP_Int8     speed_turn_gain;
+    AP_Float    speed_turn_dist;    
     AP_Int8	    ch7_option;
 
     // RC channels

APMrover2/Parameters.pde

@@ -58,7 +58,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 	GSCALAR(sysid_my_gcs,           "SYSID_MYGCS",      255),
 
     // @Param: SERIAL0_BAUD
-    // @DisplayName: Telemetry Baud Rate
+    // @DisplayName: USB Console Baud Rate
     // @Description: The baud rate used on the first serial port
     // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
     // @User: Standard
@@ -136,7 +136,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 	GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD",    XTRACK_ENTRY_ANGLE_CENTIDEGREE),
 
     // @Param: CRUISE_SPEED
-    // @DisplayName: Target speed in auto modes
+    // @DisplayName: Target cruise speed in auto modes
     // @Description: The target speed in auto missions.
     // @Units: m/s
     // @Range: 0 100
@@ -144,6 +144,24 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
 	GSCALAR(speed_cruise,        "CRUISE_SPEED",    5),
 
+    // @Param: SPEED_TURN_GAIN
+    // @DisplayName: Target speed reduction while turning
+    // @Description: The percentage to reduce the throttle while turning. If this is 100% then the target speed is not reduced while turning. If this is 50% then the target speed is reduced in proportion to the turn rate, with a reduction of 50% when the steering is maximally deflected.
+    // @Units: percent
+    // @Range: 0 100
+    // @Increment: 1
+    // @User: Standard
+	GSCALAR(speed_turn_gain,    "SPEED_TURN_GAIN",  50),
+
+    // @Param: SPEED_TURN_DIST
+    // @DisplayName: Distance to turn to start reducing speed
+    // @Description: The distance to the next turn at which the rover reduces its target speed by the SPEED_TURN_GAIN
+    // @Units: meters
+    // @Range: 0 100
+    // @Increment: 0.1
+    // @User: Standard
+	GSCALAR(speed_turn_dist,    "SPEED_TURN_DIST",  2.0f),
+
     // @Param: CH7_OPTION
     // @DisplayName: Channel 7 option
     // @Description: What to do use channel 7 for
@@ -171,7 +189,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Param: THR_MAX
     // @DisplayName: Maximum Throttle
-    // @Description: The maximum throttle setting to which the autopilot will apply.
+    // @Description: The maximum throttle setting to which the autopilot will apply. This can be used to prevent overheating a ESC or motor on an electric rover.
     // @Units: Percent
     // @Range: 0 100
     // @Increment: 1
@@ -180,7 +198,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Param: CRUISE_THROTTLE
     // @DisplayName: Base throttle percentage in auto
-    // @Description: The base throttle percentage to use in auto mode
+    // @Description: The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going.
     // @Units: Percent
     // @Range: 0 100
     // @Increment: 1

APMrover2/config.h

@@ -383,7 +383,7 @@
 # define THROTTLE_CRUISE		45
 #endif
 #ifndef THROTTLE_MAX
-# define THROTTLE_MAX			75
+# define THROTTLE_MAX			100
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -411,7 +411,7 @@
 # define XTRACK_GAIN          1 // deg/m
 #endif
 #ifndef XTRACK_ENTRY_ANGLE
-# define XTRACK_ENTRY_ANGLE   20 // deg
+# define XTRACK_ENTRY_ANGLE   50 // deg
 #endif
 # define XTRACK_GAIN_SCALED XTRACK_GAIN*100
 # define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE*100