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/**
 * @file rover_pos_control_params.c
 *
 * Parameters defined by the position control task for ground rovers
 *
 * This is a modification of the fixed wing params and it is designed for ground rovers.
 * It has been developed starting from the fw  module, simplified and improved with dedicated items.
 *
 * All the ackowledgments and credits for the fw wing app are reported in those files.
 *
 * @author Marco Zorzi <mzorzi@student.ethz.ch>
 */

/*
 * Controller parameters, accessible via MAVLink
 */

/**
 * Distance from front axle to rear axle
 *
 * A value of 0.31 is typical for 1/10 RC cars.
 *
 * @unit m
 * @min 0.0
 * @decimal 3
 * @increment 0.01
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_WHEEL_BASE, 0.31f);

/**
 * L1 distance
 *
 * This is the distance at which the next waypoint is activated. This should be set
 * to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).
 *
 *
 * @unit m
 * @min 1.0
 * @max 50.0
 * @decimal 1
 * @increment 0.1
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_L1_DIST, 1.0f);

/**
 * L1 period
 *
 * This is the L1 distance and defines the tracking
 * point ahead of the rover it's following.
 * Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten
 * slowly during tuning until response is sharp without oscillation.
 *
 * @unit m
 * @min 0.5
 * @max 50.0
 * @decimal 1
 * @increment 0.5
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_L1_PERIOD, 5.0f);

/**
 * L1 damping
 *
 * Damping factor for L1 control.
 *
 * @min 0.6
 * @max 0.9
 * @decimal 2
 * @increment 0.05
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_L1_DAMPING, 0.75f);

/**
 * Cruise throttle
 *
 * This is the throttle setting required to achieve the desired cruise speed.
 * 10% is ok for a traxxas stampede vxl with ESC set to training mode
 *
 * @unit norm
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_THR_CRUISE, 0.1f);

/**
 * Throttle limit max
 *
 * This is the maximum throttle % that can be used by the controller.
 * For a Traxxas stampede vxl with the ESC set to training, 30 % is enough
 *
 * @unit norm
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_THR_MAX, 0.3f);

/**
 * Throttle limit min
 *
 * This is the minimum throttle % that can be used by the controller.
 * Set to 0 for rover
 *
 * @unit norm
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_THR_MIN, 0.0f);

/**
 * Control mode for speed
 *
 * This allows the user to choose between closed loop gps speed or open loop cruise throttle speed
 * @min 0
 * @max 1
 * @value 0 open loop control
 * @value 1 close the loop with gps speed
 * @group Rover Position Control
 */
PARAM_DEFINE_INT32(GND_SP_CTRL_MODE, 1);

/**
 * Speed proportional gain
 *
 * This is the proportional gain for the speed closed loop controller
 *
 * @unit %m/s
 * @min 0.005
 * @max 50.0
 * @decimal 3
 * @increment 0.005
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_SPEED_P, 2.0f);

/**
 * Speed Integral gain
 *
 * This is the integral gain for the speed closed loop controller
 *
 * @unit %m/s
 * @min 0.00
 * @max 50.0
 * @decimal 3
 * @increment 0.005
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_SPEED_I, 3.0f);

/**
 * Speed proportional gain
 *
 * This is the derivative gain for the speed closed loop controller
 *
 * @unit %m/s
 * @min 0.00
 * @max 50.0
 * @decimal 3
 * @increment 0.005
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_SPEED_D, 0.001f);

/**
 * Speed integral maximum value
 *
 * This is the maxim value the integral can reach to prevent wind-up.
 *
 * @unit %m/s
 * @min 0.005
 * @max 50.0
 * @decimal 3
 * @increment 0.005
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_SPEED_IMAX, 1.0f);

/**
 * Speed to throttle scaler
 *
 * This is a gain to map the speed control output to the throttle linearly.
 *
 * @unit %m/s
 * @min 0.005
 * @max 50.0
 * @decimal 3
 * @increment 0.005
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_SPEED_THR_SC, 1.0f);

/**
 * Trim ground speed
 *
 *
 * @unit m/s
 * @min 0.0
 * @max 40
 * @decimal 1
 * @increment 0.5
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_SPEED_TRIM, 3.0f);

/**
 * Maximum ground speed
 *
 *
 * @unit m/s
 * @min 0.0
 * @max 40
 * @decimal 1
 * @increment 0.5
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_SPEED_MAX, 10.0f);

/**
 * Maximum turn angle for Ackerman steering.
 *
 * At a control output of 0, the steering wheels are at 0 radians.
 * At a control output of 1, the steering wheels are at GND_MAX_ANG radians.
 *
 * @unit rad
 * @min 0.0
 * @max 3.14159
 * @decimal 3
 * @increment 0.01
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_MAX_ANG, 0.7854f);

/**
 * Max manual yaw rate
 *
 * @unit deg/s
 * @min 0.0
 * @max 400
 * @decimal 1
 * @group Rover Position Control
 */
PARAM_DEFINE_FLOAT(GND_MAN_Y_MAX, 150.0f);