From c449c71286384d0468fa7359d739c5485f55b2ba Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 12 Feb 2024 12:16:39 +0900
Subject: [PATCH] Tools: update AION R1 params

---
 Tools/Frame_params/AION_R1_Rover.param | 84 +++++++++-----------------
 1 file changed, 30 insertions(+), 54 deletions(-)

diff --git a/Tools/Frame_params/AION_R1_Rover.param b/Tools/Frame_params/AION_R1_Rover.param
index 07b0a15d03..e7c8de00a0 100644
--- a/Tools/Frame_params/AION_R1_Rover.param
+++ b/Tools/Frame_params/AION_R1_Rover.param
@@ -1,72 +1,46 @@
-#NOTE: AION Robotics Params for Rover V3.2.0
+#NOTE: AION Robotics Params for Rover V4.5.0 (and higher)
 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_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_FILT,20
+ATC_STR_RAT_FLTD,2
+ATC_STR_RAT_FLTE,10
+ATC_STR_RAT_FLTT,2
 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
+ATC_TURN_MAX_G,0.3
 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
+BRD_SAFETY_DEFLT,0
 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
+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,73
+SERVO3_FUNCTION,74
 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
@@ -83,3 +57,5 @@ WENC2_POS_Y,0.16
 WENC2_POS_Z,0
 WENC_RADIUS,0.0775
 WENC2_TYPE,0
+WP_RADIUS,2
+WP_SPEED,1