local M = {}

M.gravity = 9.81
M.fwd_friction_coeff = 0.85
M.rev_friction_coeff = 0.8
M.max_steer_radius = 4.3
M.min_steer_radius = 3.1

M.fwd_aeb_params = {  
    min_speed = 0.75,
    brake_till_stop_speed = 3,
    braking_time_leeway = 0.3,
  
    vehicle_search_radius = 200,
    
    min_distance_from_car = 1,
    lateral_acc_to_avoid_collision = 0.15,
    
    parking_sensor_rel_height = -0.5,
    num_of_sensors = 9,
    sensors_polled_per_iteration = 1,
    sensor_offset_forward = 0.0,
    sensor_max_distance = 30 
}

M.rev_aeb_params = {
    min_speed = 0.75,

    parking_sensor_rel_height = -0.5,
    num_of_sensors = 9,
    sensors_polled_per_iteration = 2,
    sensor_offset_forward = 0.2,
    sensor_max_distance = 15
}

M.beeper_params = {
    fwd_warning_tone_hertz = 7,

    parking_warning_tone_hertz = 20,
    parking_warning_tone_dist_per_hertz = 2.75,
}

M.rev_cam_params = {
    cam_fov = 120,
    cam_down_angle = 35,
    rel_cam_height = 0.25,
    cam_to_wheel_len = -1,

    parking_lines_params = {
        num_of_lines = 10,
        line_width = 0.05,
        line_length = 2.95,
        perp_line_length = 0.2,
      
        parking_line_offset_long = 0.2,
        parking_line_red_len = 0.2,
        parking_line_yellow_len = 0.6,
        parking_line_green_len = 1.0,
        parking_line_total_len = 0.2 + 0.6 + 1.0
    }
}
    
return M