Overview

The DECEL parameter group (specifically DECEL_MAX) sets the physical braking limits for ArduRover (Ground Vehicles and Boats).

Unlike aircraft, ground vehicles need separate limits for acceleration (to prevent wheelies) and deceleration (to prevent skidding or front-flips).

Key Concepts

1. Braking Aggression

This parameter tells the navigation controller how hard it can apply the brakes when approaching a waypoint or stopping.

• Too High: The vehicle might skid, lock wheels, or tip forward.
• Too Low: The vehicle will overshoot waypoints or crash into obstacles because it can't stop in time.

Parameter Breakdown

• DECEL_MAX: Maximum deceleration in $m/s^2$.
  • Example: 1.0 $m/s^2$ means the vehicle can slow down by 1 m/s every second.

Integration Guide

1. Test: Drive at full speed in Manual mode and slam the brakes.
2. Observe: Does it skid? Does the nose dip dangerously?
3. Tune: Set DECEL_MAX slightly lower than the physical limit you observed.

Developer Notes

• Library: ArduRover/AP_L1_Control (Navigation).