Prepare the SD Card

################################
##     Important Settings     ##
################################

# Most of the time you must modify those settings, so they are moved to the beginning of document from their respective sections
# Refer to documentation for more info: https://openmower.de/docs/robot-assembly/prepare-the-parts/prepare-sd-card/#step-2-configure-open-mower

# Your Hardware Version (more a firmware version, really). Check the OpenMower docs (https://openmower.de/docs/versions/) for the firmware versions.
# Supported values as of today:
# 0_13_X: Use this if you have 0.13.x mainboard with LSM6DSOTR (default).
# 0_12_X_LSM6DSO: Use this if you have an LSM6DSOTR and have a 0.12.x mainboard.
# 0_11_X_WT901: Use this if you have an WT901 and have a 0.11.x mainboard.
# 0_10_X_WT901: Use this if you have an WT901 and have a 0.10.x mainboard.
# 0_10_X_MPU9250: Use this if you have an MPU9250 and have a 0.10.x mainboard (be aware that there are many fake chips on the market. So probably not your hardware version).
# 0_9_X_WT901_INSTEAD_OF_SOUND: Use this if you have soldered the WT901 in the sound module's slot and have a 0.9.x mainboard.
# 0_9_X_MPU9250: Use this if you have an MPU9250 and have a 0.9.x mainboard (be aware that there are many fake chips on the market. So probably not your hardware version).
export OM_HARDWARE_VERSION="0_13_X"

# Uncomment and set to coordinates near your future docking station, this will be your map origin.
# There might be a case that you don't need those if you using OM_USE_RELATIVE_POSITION=True
export OM_DATUM_LAT=48.CHANGEME
export OM_DATUM_LONG=11.CHANGEME

# NTRIP Settings
# Set to False if using external radio plugged into the Ardusimple board.
export OM_USE_NTRIP=True
export OM_NTRIP_HOSTNAME=192.168.178.55
export OM_NTRIP_PORT=2101
export OM_NTRIP_USER=gps
export OM_NTRIP_PASSWORD=gps
export OM_NTRIP_ENDPOINT=BASE1

################################
## Hardware Specific Settings ##
################################

# The type of mower you're using, used to get some hardware parameters automatically
# Currently supported:
# YardForce500
# YardForceSA650
# CUSTOM (put your configs in ~/mower_params/)
export OM_MOWER="YardForce500"

# Select your ESC type
# Supported values as of today:
# xesc_mini: for the STM32 version (VESC)
# xesc_2040: for the RP2040 version (very experimental!)
export OM_MOWER_ESC_TYPE="xesc_mini"

# Select your gamepad
# Currently supported: ps3, steam_stick, steam_touch, xbox360
export OM_MOWER_GAMEPAD="xbox360"

# Set to true to record your session.
# Output will be stored in your $HOME
# export OM_ENABLE_RECORDING_ALL=False


# Full Sound Support - But read on carefully:
# Up to (and inclusive) OM hardware version 0.13.x, DFPlayer's power supply is set by default to 3.3V.
# This is done by solder jumper "JP1" whose board track is by default at 3.3V.
# If you manually opened the 3.3V track and solder a bridge to 5V, then you can indicate it here to get full sound support.
# DO NOT enable "OM_DFP_IS_5V=True" if you haven't changed it in real. You might risk your "Raspberry Pico"!
# And even if the Pico isn't expensive, it's a torture to replace it.
# Full details are available here: https://github.com/ClemensElflein/OpenMower/blob/main/Firmware/LowLevel/README-Sound%2C%20DFPIS5V.md
# export OM_DFP_IS_5V=False
#
# Language as ISO-639-1 code string (currently only used by sound).
# Supported languages: en|de
# export OM_LANGUAGE="en"
#
# Sound volume (%)
# Supported values:
# 0-100 = Set sound volume on OM start, ignoring a previously set volume level (i.e. changed by CoverUI)
#    -1 = Don't change a previously set volume level
# export OM_VOLUME=-1
#
# Background sounds
# Beside some spoken informational advert sounds like "Waiting for RTK GPS" or "Heading back to docking station",
# the current sound implementation might also play some funny background sounds like "I'm singing in the rain" once rain got detected.
# But it will also play background sounds which might unsettle your wife or neighbor.
# That's why it's configured false/off by default. If your wife or neightbor is heavy-duty, you can set it to "true" (on) here:
# export OM_BACKGROUND_SOUNDS=False


################################
##        GPS Settings        ##
################################
# Relative Positioning vs LatLng coordinates
# If OM_USE_RELATIVE_POSITION=False, we're using an arbitrary point as map origin. This point is called the DATUM point and
# needs to be set using OM_DATUM_LAT and OM_DATUM_LONG below.
# If OM_USE_RELATIVE_POSITION=True, we're using the ublox NAVRELPOSNED messages as position.
# This makes your base station the map origin
# For it recommended to set OM_USE_RELATIVE_POSITION to False. This way you can move your base station without re-recording your maps and it's also more compatible overall.
export OM_USE_RELATIVE_POSITION=False

# GPS protocol. Use UBX for u-blox chipsets and NMEA for everything else
export OM_GPS_PROTOCOL=UBX

# If you want to use F9R's sensor fusion, set this to true (you will also need to set DATUM_LAT and DATUM_LONG.
# Consider this option unstable, since I don't have the F9R anymore, so I'm not able to test this.
# IF YOU DONT KNOW WHAT THIS IS, SET IT TO FALSE
export OM_USE_F9R_SENSOR_FUSION=False


################################
##    Mower Logic Settings    ##
################################
# The distance to drive forward AFTER reaching the second docking point
export OM_DOCKING_DISTANCE=1.0

# The distance to drive for undocking. This needs to be large enough for the robot to have GPS reception
export OM_UNDOCK_DISTANCE=2.0

# How many outlines should the mover drive. It's not recommended to set this below 4.
export OM_OUTLINE_COUNT=4

# Mowing angle offset -180 deg - +180 deg, 0 = east, -90 = north. If mowing angle offset is not absolute it gets added to the auto detected angle which is set by the first 2 m of recorded outline.
export OM_MOWING_ANGLE_OFFSET=0
export OM_MOWING_ANGLE_OFFSET_IS_ABSOLUTE=False

# The width of mowing paths.
# Choose it smaller than your actual mowing tool in order to have some overlap.
# 0.13 works well for the Classic 500.
export OM_TOOL_WIDTH=0.13

# Voltages for battery to be considered full or empty
export OM_BATTERY_EMPTY_VOLTAGE=23.0
export OM_BATTERY_FULL_VOLTAGE=28.0

# Mower motor temperatures to stop and start mowing
export OM_MOWING_MOTOR_TEMP_HIGH=80.0
export OM_MOWING_MOTOR_TEMP_LOW=40.0

export OM_GPS_WAIT_TIME_SEC=10.0
export OM_GPS_TIMEOUT_SEC=5.0

# Mowing Behavior Settings
# True to enable mowing motor
export OM_ENABLE_MOWER=true

# True to start mowing automatically. If this is false, you need to start manually by pressing the start button
export OM_AUTOMATIC_START=false

export OM_OUTLINE_OFFSET=0.05

# source the default values for the hardware platform.
# you only need this line on non-docker installs. in the docker, it will be done automatically.
# source $(rospack find open_mower)/params/hardware_specific/$OM_MOWER/default_environment.sh