/**
 * @file autopilotConfig.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Some defines to configure the behaviour of the autopilot
 * @version 0.1
 * @date 2022-03-02
 * 
 * @copyright Copyright (c) 2022
 * 
 */

#ifndef AUTOPILOT_CONFIG_H
#define AUTOPILOT_CONFIG_H

/**
 * @brief 
 * 
 */
#define AUTOPILOT_MAX_SPEED 0.5

/**
 * @brief Max speed in the near of target point
 */
#define AUTOPILOT_SPEED_2 0.25

/**
 * @brief Distance in meters
 * 
 * If this distance to the next point is reached the autopilot will drive
 * now with the speed set by AUTOPILOT_SPEED_2
 */
#define MIN_DISTANCE_FOR_SPEED_2 4

/**
 * @brief Needed distance to the next point to choose the next point as target.
 */
#define MIN_DISTANCE_TO_NEXT_POINT 2


/**
 * @brief Minimal course correction
 * If the needed correction in degree is lower than this value the rover will
 * be drive straight on.
 */
#define MIN_COURSE_CORRECTION_TO_ACT 5

/**
 * @brief Course correction factor
 * This value is used by the setRotInRelToDistance function and is used to calculate
 * the value for setRotationspeed.
 */
#define COURSE_CORRECTION_FACTOR 30

#endif // AUTOPILOT_CONFIG_H