FEATURE: Add an initial rover template

Author: amilcarlucas

MethodicConfigurator/Rover_configuration_steps.json

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+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
+INS_LOG_BAT_MASK,7  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
+INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
+INS_TCAL1_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
+INS_TCAL3_ENABLE,2  # Activates the temperature calibration for IMU 3 at the next start
+LOG_BITMASK,524416  # Only for IMU and Raw-IMU
+LOG_DISARMED,1  # Gather data for the offline IMU temperature calibration while the FC is disarmed

vehicle_templates/Rover/AION_R1/00_default.param

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+INS_TCAL1_ACC1_X,115.946591
+INS_TCAL1_ACC1_Y,498.256973
+INS_TCAL1_ACC1_Z,-381.446152
+INS_TCAL1_ACC2_X,-22.931569
+INS_TCAL1_ACC2_Y,13.578689
+INS_TCAL1_ACC2_Z,19.36129
+INS_TCAL1_ACC3_X,-0.601406
+INS_TCAL1_ACC3_Y,0.213799
+INS_TCAL1_ACC3_Z,0.011622
+INS_TCAL1_ENABLE,0
+INS_TCAL1_GYR1_X,-32.634221
+INS_TCAL1_GYR1_Y,79.655005
+INS_TCAL1_GYR1_Z,-151.124203
+INS_TCAL1_GYR2_X,-0.611429
+INS_TCAL1_GYR2_Y,-2.040989
+INS_TCAL1_GYR2_Z,1.23833
+INS_TCAL1_GYR3_X,-0.009728
+INS_TCAL1_GYR3_Y,0.019492
+INS_TCAL1_GYR3_Z,0.00141
+INS_TCAL1_TMAX,56
+INS_TCAL1_TMIN,-14.6
+INS_TCAL2_ACC1_X,-1088.4156
+INS_TCAL2_ACC1_Y,806.840522
+INS_TCAL2_ACC1_Z,327.521202
+INS_TCAL2_ACC2_X,-13.630366
+INS_TCAL2_ACC2_Y,6.347961
+INS_TCAL2_ACC2_Z,9.967253
+INS_TCAL2_ACC3_X,-0.376738
+INS_TCAL2_ACC3_Y,0.002642
+INS_TCAL2_ACC3_Z,-0.065861
+INS_TCAL2_ENABLE,0
+INS_TCAL2_GYR1_X,-44.455146
+INS_TCAL2_GYR1_Y,-8.833006
+INS_TCAL2_GYR1_Z,88.004539
+INS_TCAL2_GYR2_X,1.435061
+INS_TCAL2_GYR2_Y,-0.204453
+INS_TCAL2_GYR2_Z,-2.086232
+INS_TCAL2_GYR3_X,-0.048141
+INS_TCAL2_GYR3_Y,-0.002373
+INS_TCAL2_GYR3_Z,-0.028351
+INS_TCAL2_TMAX,56.5
+INS_TCAL2_TMIN,-13.3

vehicle_templates/Rover/AION_R1/02_imu_temperature_calibration_setup.param

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+AHRS_ORIENTATION,0  # Point forward in the direction of travel
+LOG_DISARMED,0  # Log disarmed was only required for offline IMU temperature calibration

vehicle_templates/Rover/AION_R1/03_imu_temperature_calibration_results.param

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+ARMING_RUDDER,2
+BRD_ALT_CONFIG,0  # Stay at default
+MODE_CH,5
+RC_OPTIONS,32  # Stay at default
+RC_PROTOCOLS,1  # Selected in the component editor
+RC6_OPTION,0
+RC7_OPTION,153  # "Motor Emergency Stop", stops all motors immediately at a high signal
+RC8_OPTION,30  # "Lost rover Sound", generates a loud tone from the buzzer at a high signal to locate a lost multicopter
+RC9_OPTION,0
+RSSI_TYPE,0  # Does the Herelink airunit provide RSSI?

vehicle_templates/Rover/AION_R1/04_board_orientation.param

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+BRD_SER1_RTSCTS,2  # we have RTS/CTS pins connected
+SERIAL1_BAUD,115  # The MAVLink over Herelink telemetry
+SERIAL1_PROTOCOL,2  # Use MAVLink 2 for telemetry
+SR0_EXT_STAT,2
+SR0_EXTRA1,4
+SR0_EXTRA2,4
+SR0_EXTRA3,3
+SR0_POSITION,3
+SR0_RAW_SENS,3
+SR0_RC_CHAN,10
+SR1_EXTRA1,5
+SR1_EXTRA2,5
+SR1_EXTRA3,3
+SR1_POSITION,5
+SR1_RAW_SENS,3
+SR1_RC_CHAN,3

vehicle_templates/Rover/AION_R1/05_remote_controller.param

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+MOT_HOVER_LEARN,2  # So that it can tune the throttle controller on 20_throttle_controller.param file
+MOT_PWM_TYPE,0  # Specified in component editor window
+NTF_BUZZ_TYPES,5
+NTF_LED_TYPES,24807  # Adds DroneCAN LED support for Here4
+SERVO_BLH_AUTO,0
+SERVO_BLH_POLES,3  # Specified in component editor window
+SERVO_BLH_TRATE,10  # Set to a low value because the RPM telemetry uses bi-directional DShot telemetry instead of this UART telemetry
+SERVO_DSHOT_ESC,0
+SERVO_DSHOT_RATE,0
+SERVO1_MAX,2000  # Use the full available 1000-2000 PWM range
+SERVO1_MIN,1000  # Use the full available 1000-2000 PWM range
+SERVO1_TRIM,1500  # Use the full available 1000-2000 PWM range
+SERVO11_FUNCTION,-1
+SERVO12_FUNCTION,-1
+SERVO13_FUNCTION,-1
+SERVO14_FUNCTION,-1
+SERVO2_MAX,1900  # Restrict to 1100-1900 PWM range
+SERVO2_MIN,1100  # Restrict to 1100-1900 PWM range
+SERVO2_TRIM,1500  # Restrict to 1100-1900 PWM range
+SERVO3_MAX,2000  # Use the full available 1000-2000 PWM range
+SERVO3_MIN,1000  # Use the full available 1000-2000 PWM range
+SERVO3_TRIM,1500  # Restrict to 1100-1900 PWM range
+SERVO4_MAX,1900  # Restrict to 1100-1900 PWM range
+SERVO4_MIN,1100  # Restrict to 1100-1900 PWM range
+SERVO4_TRIM,1500  # Restrict to 1100-1900 PWM range

vehicle_templates/Rover/AION_R1/06_telemetry.param

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+BATT_AMP_PERVLT,17
+BATT_ARM_VOLT,15.7  # Don’t allow arming below this voltage
+BATT_CAPACITY,5200  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0
+BATT_CRT_VOLT,14.2  # (Critical voltage + 0.0) x no. of cells
+BATT_FS_CRT_ACT,1  # Land ASAP
+BATT_FS_LOW_ACT,2  # Return and land at home or rally point
+BATT_FS_VOLTSRC,1  # Let the firmware handle the nasty business of variable and battery dependent internal resistance
+BATT_LOW_MAH,0
+BATT_LOW_VOLT,14.4  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,4
+BATT_VOLT_MULT,10.1  # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it

vehicle_templates/Rover/AION_R1/07_esc.param

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+BATT2_AMP_PERVLT,17.73  # calibrated using batt charger
+BATT2_ARM_VOLT,15  # In our build this is a redundant monitor for batt1 so == BATT_ARM_VOLT
+BATT2_CAPACITY,1800  # In our build this is a redundant monitor for batt1 so == BATT_CAPACITY
+BATT2_CRT_MAH,450  # In our build this is a redundant monitor for batt1 so == BATT_CRT_MAH
+BATT2_CRT_VOLT,14  # In our build this is a redundant monitor for batt1 so == BATT_CRT_VOLT
+BATT2_CURR_PIN,7
+BATT2_FS_CRT_ACT,1  # flying indoors, just land ASAP, no need to hit the ceiling while doing RTL
+BATT2_FS_LOW_ACT,1  # flying indoors, just land ASAP, no need to hit the ceiling while doing RTL
+BATT2_FS_VOLTSRC,1  # In our build this is a redundant monitor for batt1 so == BATT_FS_VOLTSRC
+BATT2_LOW_MAH,600  # In our build this is a redundant monitor for batt1 so == BATT_LOW_MAH
+BATT2_LOW_VOLT,14.4  # In our build this is a redundant monitor for batt1 so == BATT_LOW_VOLT
+BATT2_MONITOR,0
+BATT2_VOLT_MULT,228.342  # Use a power source with a voltage close to BATT2_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it
+BATT2_VOLT_PIN,18