From f65354e98879fd8f8e9ec7de1cbcec7b1149ccb3 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Fri, 10 Nov 2023 17:27:48 +0000
Subject: [PATCH] Gazebo: tune BlueBoat thruster multiplier

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 Gazebo/models/blueboat/model.config | 18 ++++++++++++++++++
 Gazebo/models/blueboat/model.sdf    |  4 ++--
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/Gazebo/models/blueboat/model.config b/Gazebo/models/blueboat/model.config
index 343a67cb..8420ef08 100644
--- a/Gazebo/models/blueboat/model.config
+++ b/Gazebo/models/blueboat/model.config
@@ -15,5 +15,23 @@
 
     3D Models retrieved from:
     https://cad.bluerobotics.com/BLUEBOAT_120_BR-101447_RevA_PUB.zip
+
+    Properties
+
+    Max speed (unloaded): 3 m/s
+      - Set thrust multiplier to 70 in ArduPilotPlugin (+/- 35 N)
+
+    ArduPilot
+
+    Vehicle type:     Rover
+    Frame type:       rover-skid
+
+    ArduPilot Parameters
+
+    CRUISE_SPEED      2.0
+    CRUISE_THROTTLE   50.0
+    FRAME_CLASS       2.0
+    WP_SPEED          2.0
+
   </description>
 </model>
diff --git a/Gazebo/models/blueboat/model.sdf b/Gazebo/models/blueboat/model.sdf
index 4e9b8575..6fe1d572 100644
--- a/Gazebo/models/blueboat/model.sdf
+++ b/Gazebo/models/blueboat/model.sdf
@@ -411,7 +411,7 @@
       -->
       <control channel="0">
         <jointName>motor_port_joint</jointName>
-        <multiplier>10</multiplier>
+        <multiplier>70</multiplier>
         <offset>-0.5</offset>
         <servo_min>1000</servo_min>
         <servo_max>2000</servo_max>
@@ -428,7 +428,7 @@
       -->
       <control channel="2">
         <jointName>motor_stbd_joint</jointName>
-        <multiplier>10</multiplier>
+        <multiplier>70</multiplier>
         <offset>-0.5</offset>
         <servo_min>1000</servo_min>
         <servo_max>2000</servo_max>