File content as of revision 11:33757b21d0e4:

#ifndef __CONFIG_H
#define __CONFIG_H

#include "GeoPosition.h"
#include "CartPosition.h"

/** Text-based configuration; reads config file and stores in fields
 */
class Config {
    public:
        static const int MAX_WPT=10;            // maximum number of waypoints

        /** Create a new config instance */
        Config();

        /** Load configuration from file */
        bool load(const char *filename);

        bool loaded;                        // has the config been loaded yet?
        float intercept;                    // used for course correction steering calculation
        float waypointDist;                 // distance threshold to waypoint
        float brakeDist;                    // braking distance
        GeoPosition wpt[10];                // Waypoints, lat/lon coords
        CartPosition cwpt[10];              // Waypoints, cartesian coords
        float wptTopSpeedAdj[MAX_WPT];      // Speed approaching waypoint
        float wptTurnSpeedAdj[MAX_WPT];
        unsigned int wptCount;              // number of active waypoints
        float escMin;                       // minimum ESC value; brake
        float escZero;                      // zero throttle
        float escMax;                       // max throttle
        float topSpeed;                     // default top speed to achieve on the straights
        float turnSpeed;                    // default speed for turns
        float startSpeed;                   // speed for start
        float minRadius;                    // minimum turning radius (calculated)
        float speedKp;                      // Speed PID proportional gain
        float speedKi;                      // Speed PID integral gain
        float speedKd;                      // Speed PID derivative gain
        float steerZero;                    // zero steering aka center point
        float steerScale;                   // gain factor for steering algorithm
        float curbThreshold;                // distance at which curb avoid takes place
        float curbGain;                     // gain of curb avoid steering
//        float gyroBias;                   // this needs to be 3d
        float gyroScale;                    // scales gyro output to degrees / sec
        // float gyroScale[3];
        float magOffset[3];
        float magScale[3];
        // float accelOffset[3];
        // float accelScale[3];
        float wheelbase;                    // Vehicle wheelbase, front to rear axle
        float track;                        // Vehicle track width, left to right contact patch
        float tireCirc;                     // tire circumference
        int encStripes;                     // Number of ticks per revolution
        float gpsValidSpeed;                // speed above which GPS can be relied upon
};

#endif