STEER2SRV_P
: This tells the rover code what the turning circle(as a diameter in meters) is for your rover. It is critical that youget this parameter right, as it tells the code what steering angle tochoose to achieve a desired turn rate.TURN_MAX_G
: This tells the rover the maximum G force (inmultiples of one gravity) that your rover can handle while remainingstable. If you set this too high then your rover may flip over inturns, or skid. If you set it too low then your rover will not beable to turn sharply enough.NAVL1_PERIOD
: This controls the aggressiveness of the navigationalgorithm. A smaller number means more aggressive turning in AUTOmode, a large number means larger, smoother turns.SPEED_TURN_GAIN
: This controls how much the rover should slowdown while turning, as a percentage of current target speed. To notslow down at all in turns set this to 100. When doing initial tuningit is recommended you use 100, and lower this later to improvehandling of tight courses.CRUISE_SPEED
: This controls the target speed in meters/second inAUTO.CRUISE_THROTTLE
: This sets the initial guess at what throttle isneeded to achieve CRUISE_SPEED when driving straight ahead. Thisneeds to be RIGHT for the rover to achieve good speed control.CRUISE_THROTTLE
right so we know what throttle levelwill give us a speed of 2 meters/second.TURN_MAX_G
parameter can now be tuned so that your rover candrive more aggressively, without turning over.