%== General Parameters ==
%--------------------------------------
esc_on = 0;

% mps_2_kph = 3.6;
% radps_2_rpm = 60/(2*pi);
% rpm_2RADpS = (2*pi)/60; 

esc_v_min = 5/3.6; % [m/s] lower limit for ABS and ESP intervention

% Steering TODO check this out... 
esc_swa_in = [-15 -8 -7 -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6 7 8 15];
esc_swa_out = [-0.6 -0.6 -0.5 -0.41 -0.34 -0.27 -0.2 -0.13 -0.06 0 0.06 0.13 0.2 0.27 0.34 0.41 0.5 0.6 0.6];

% Electronic Stability Control Parameters 
%--------------------------------------

esc_kp_n_yaw = 1830; % [-]
esc_kp_a_slip = 1400; % [-]

esc_a_slip_deviation_max = 3;
esc_n_yaw_deviation_max = 1;

% Expert Parameters
esc_n_yaw_v_corr = 0.5; % [-]
esc_a_slip_v_corr = 5/6; % [-]

esc_v_char_lim_high = 40; % [m/s]
esc_v_char_lim_low = 7; % [m/s]