From 7bebfcfae86ee06539acbde9d577ee84e665c221 Mon Sep 17 00:00:00 2001
From: PerFrivik <per.a.frivik@gmail.com>
Date: Mon, 12 Feb 2024 11:48:54 +0100
Subject: [PATCH] added mecanum apps and defaults

---
 .../init.d-posix/airframes/4011_gz_r1_rover_mecanum   |  2 +-
 ROMFS/px4fmu_common/init.d/CMakeLists.txt             |  2 ++
 ROMFS/px4fmu_common/init.d/rc.rover_differential_apps |  2 +-
 .../init.d/rc.rover_differential_defaults             |  2 +-
 ROMFS/px4fmu_common/init.d/rc.rover_mecanum_apps      | 11 +++++++++++
 ROMFS/px4fmu_common/init.d/rc.rover_mecanum_defaults  | 11 +++++++++++
 ROMFS/px4fmu_common/init.d/rc.vehicle_setup           |  9 +++++++++
 7 files changed, 36 insertions(+), 3 deletions(-)
 create mode 100644 ROMFS/px4fmu_common/init.d/rc.rover_mecanum_apps
 create mode 100644 ROMFS/px4fmu_common/init.d/rc.rover_mecanum_defaults

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_r1_rover_mecanum b/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_r1_rover_mecanum
index 69c43165f3..3fdb047866 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_r1_rover_mecanum
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_r1_rover_mecanum
@@ -3,7 +3,7 @@
 # @type Rover
 # @class Rover
 
-. ${R}etc/init.d/rc.rover_differential_defaults
+. ${R}etc/init.d/rc.rover_mecanum_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
index 4b45187ff5..96e05ba0a3 100644
--- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@@ -53,6 +53,8 @@ px4_add_romfs_files(
 	rc.rover_defaults
 	rc.rover_differential_apps
 	rc.rover_differential_defaults
+	rc.rover_mecanum_apps
+	rc.rover_mecanum_defaults
 	rc.uuv_apps
 	rc.uuv_defaults
 	rc.vehicle_setup
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_differential_apps b/ROMFS/px4fmu_common/init.d/rc.rover_differential_apps
index 1fb0b24857..848527a9e9 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_differential_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_differential_apps
@@ -5,7 +5,7 @@
 ekf2 start &
 
 # Start rover differential drive controller.
-mecanum_drive start
+differential_drive start
 
 # Start Land Detector.
 land_detector start rover
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults
index 995727a3d6..e0cace3a32 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults
@@ -6,6 +6,6 @@ set VEHICLE_TYPE rover_differential
 param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
 
 param set-default CA_AIRFRAME 6 # Rover (Differential)
-param set-default CA_R_REV 15 # Right and left motors reversible
+param set-default CA_R_REV 3 # Right and left motors reversible
 
 param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_mecanum_apps b/ROMFS/px4fmu_common/init.d/rc.rover_mecanum_apps
new file mode 100644
index 0000000000..f2a8ee8f1a
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_mecanum_apps
@@ -0,0 +1,11 @@
+#!/bin/sh
+# Standard apps for a mecanum drive rover.
+
+# Start the attitude and position estimator.
+ekf2 start &
+
+# Start rover mecanum drive controller.
+mecanum_drive start
+
+# Start Land Detector.
+land_detector start rover
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_mecanum_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_mecanum_defaults
new file mode 100644
index 0000000000..3a9d81db2d
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_mecanum_defaults
@@ -0,0 +1,11 @@
+#!/bin/sh
+# Mecanum rover parameters.
+
+set VEHICLE_TYPE rover_mecanum
+
+param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
+
+param set-default CA_AIRFRAME 13 # Rover (Mecanum)
+param set-default CA_R_REV 15 # Right and left motors reversible
+
+param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
diff --git a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
index 1b7ddee5a5..7ca1cac8f4 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
+++ b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
@@ -41,6 +41,15 @@ then
 	. ${R}etc/init.d/rc.rover_differential_apps
 fi
 
+#
+# Mecanum Rover setup.
+#
+if [ $VEHICLE_TYPE = rover_mecanum ]
+then
+	# Start mecanum drive rover apps.
+	. ${R}etc/init.d/rc.rover_mecanum_apps
+fi
+
 #
 # VTOL setup.
 #